Online motion planning based on swept volume search with replanning using sequential quadratic programming

This paper describes a method for obtaining a mobile manipulator's motion sequence by indicating a goal-hand pose. The proposed method entails recording various robot motions as a large number of motion sequences and associated swept volumes (SVs) and then selecting the most appropriate SV for...

Full description

Saved in:
Bibliographic Details
Published inAdvanced robotics Vol. 37; no. 12; pp. 737 - 750
Main Authors Iwasaki, Takuya, Takase, Yutaka, Arnold, Solvi, Takeshita, Keisuke, Yamazaki, Kimitoshi
Format Journal Article
LanguageEnglish
Published Taylor & Francis 18.06.2023
Subjects
and trajectory generation
mobile manipulation
Motion and path planning
quadratic programming
swept volumes
Online AccessGet full text

Cover

More Information
Summary:This paper describes a method for obtaining a mobile manipulator's motion sequence by indicating a goal-hand pose. The proposed method entails recording various robot motions as a large number of motion sequences and associated swept volumes (SVs) and then selecting the most appropriate SV for the current situation. In addition, the motion sequences can be altered while the robot is in motion, and the transition motion is generated using sequential quadratic programming, enabling the robot to avoid collisions with obstacles found after it has begun to move. The proposed method's performance is verified by simulation to confirm the appropriate amount of data and the method's superiority.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2023.2210207