Point-to-point trajectory planning of wheeled mobile manipulators with stability constraint. Extension of the random-profile approach

European Journal of Mechanics, A/Solids

Volumn 28, Issue 3, 2009, Pages 477-493

  Haddad, M ^a   Hanchi, S ^a   Lehtihet, H E ^a  

^a ECOLE MILITAIRE POLYTECHNIQUE   (Algeria)

Author keywords

Mobile manipulator; Stability constraint; Stochastic optimization; Trajectory planning

Indexed keywords

CONSTRAINED OPTIMIZATION; COST FUNCTIONS; RANDOM PROCESSES; STABILITY; TRAJECTORIES;

DYNAMIC STABILITIES; MOBILE MANIPULATOR; NON-HOLONOMIC; OBSTACLE AVOIDANCES; PATH CURVATURES; POINT TRAJECTORIES; STABILITY CONDITIONS; STABILITY CONSTRAINT; STOCHASTIC OPTIMIZATION; TRAJECTORY PLANNING; TRAVEL TIME; VERSATILE METHODS; WHEELED MOBILE MANIPULATORS; WHEELED PLATFORMS;

MANIPULATORS;

EID: 60449101497     PISSN: 09977538     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.euromechsol.2008.06.008     Document Type: Article

References (40)

1. Bayle, B., Fourquet, J.-Y., Renaud, M., 2003. From manipulation to wheeled mobile manipulation: analogies and differences. In: 7th Symposium on Robot Control (SYROCO'03), vol. 1, pp. 97-104
2. Bloch A.M., Reyhaniglu M., and McClamroch N.H. Control and stabilization of nonholonomic dynamical systems. IEEE Trans. Automatic Control 37 11 (1992) 1746-1757
3. Campion, G., d'Andrea-Novel, B., Bastin, G., 1991. Modelling and state feedback control of nonholonomic mechanical systems. In: IEEE Conference on Decision and Control, Brighton, England, pp. 1184-1189
4. Campion G., Bastin G., and d'Andrea-Novel B. Structural properties and classification of kinematics and dynamic models of wheeled mobile robots. IEEE Trans. Robotics and Automation 12 1 (1996) 47-62
5. Carriker, W.F., Khosla, P.K., Krogh, B.H., 1990. The use of simulated annealing to solve the mobile manipulator path planning problem. In: IEEE International Conference on Robotics and Automation, pp. 204-209
6. Carriker W.F., Khosla P.K., and Krogh B.H. Path planning for mobile manipulators for multiple task execution. IEEE Trans. Robotics and Automation 7 3 (1991) 403-408
7. Chettibi, T., Lehtihet, H.E., 2002. A new approach for point to point optimal motion planning problems of robotic manipulators. In: Proc. of 6th Biennial Conference on Engineering System Design and Analysis, APM10
8. Cohen G. An algorithm for convex constrained minimax optimization based on duality. Appl. Math. Optim. 7 (1981) 347-372
9. Desai, J., Wang, C.-C., Zefran, M., Kumar, V., 1996. Motion planning for mobile manipulators. In: IEEE International Conference on Robotics and Automation, pp. 2073-2078
10. Desai, J., Kumar, V., 1997. Nonholonomic motion planning for multiple mobile manipulators. In: IEEE International Conference on Robotics and Automation, pp. 3409-3414
11. Dubowsky, S., Vance, E.E., 1989. Planning mobile manipulator motions considering vehicle dynamic stability constraints. In: IEEE International Conference on Robotics and Automation, pp. 1271-1276
12. Foulon, G., Fourquet, J.-Y., Renaud, M., 1998. Planning point to point paths for non-holonomic mobile manipulator. In: IEEE/JRS International Conference on Intelligent Robots and Systems, pp. 374-379
13. Haddad, M., Chettibi, T., Lehtihet, H.E., Hanchi, S., 2005. A new approach for minimum-time motion planning problem of wheeled mobile robots. In: 16th IFAC World Congress
14. Haddad, M., Chettibi, T., Saidouni, T., Hanchi, S., Lehtihet, H.E., 2006. Sub-optimal motion planner of mobile manipulators in generalized point-to-point task with stability constraint. In: Proc. Of 16th CISM-IFToMM Symposium, pp. 171-178
15. Haddad M., Chettibi T., Hanchi S., and Lehtihet H.E. A random profile approach for trajectory planning of wheeled mobile robots. Eur. J. Mech. A/Solids 26 (2007) 519-540
16. Haddad, M., Hanchi, S., Lehtihet, H.E., 2007b. Sub-optimal motion planner of a mobile manipulator with end-effector's specified path. In: IFToMM World Congress, Besançon, France
17. Haddad, M., Chettibi, T., Lehtihet, H.E., Khalil, W., Boyer, F., 2008. Sub-optimal motion planner of wheeled mobile manipulators with under-actuated platform. In: Proceeding of 1st Mediterranean Conference on Intelligent Systems and Automation, Algeria
18. Hajek, B., 1985. A tutorial survey of theory and application of simulated annealing. In: Proceeding of 24th Conference on Decision and Control, pp. 755-760
19. Hollerbach, J.M., 1983. Dynamic scaling of manipulator trajectories. M.I.T.A.I. Lab Memo 700
20. Huang Q., Tanie K., and Sugano S. Coordinated motion planning for a mobile manipulator considering stability and manipulation. Int. J. Robotics Res. 19 8 (2000) 732-742
21. Iwamura, M., Yamamoto, M., Mohri, A., 2000. A gradient- based approach to collision-free quasi-optimal trajectory planning of nonholonomic systems. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1734-1740
22. Kavraki L., Svestka P., Latombe J.C., and Overmars M. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robotics and Automation 12 4 (1996) 566-580
23. Khalil W., and Dombre E. Modeling, Identification and Control of Robots (2002), Hermès Penton, London-Paris
24. Kirkpatrick S., Gelett C., and Vecchi M. Optimization by simulated annealing. Science (1983) 621-680
25. Kim, J., Chung, W.K., Youm, Y., Lee, B.H., 2002. Real time ZMP compensation method using null motion for mobil manipulator. In: Proc. In IEEE International Conference on Robotics and Automation, pp. 1967-1972
26. Latombe J.-C. Robot Motion Planning (1991), Kluwer Academic Press
27. Lee, J.K., Kim, S.H., Cho, H.S., 1996. Motion planning for a mobile manipulator to execute a multiple point-to-point task. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 737-742
28. Lee J.K., and Cho H.S. Mobile manipulator motion planning for multiple tasks using global optimization approach. Int. J. Intelligent and Robotic Systems 18 (1997) 169-190
29. Levy A.V., and Gomez S. The tunneling method applied to global optimization. Numerical Optimization (1984), SIAM Press, Philadelphia, Pennsylvania 213-244
30. Lingelbach, F., 2004. Path planning for mobile manipulation using probabilistic cell decomposition. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2807-2812
31. Mohri, A., Furuno, S., Iwamura, M., Yamamoto, M., 2001. Sub-optimal trajectory planning of mobile manipulator. In: IEEE International Conference on Robotics and Automation, pp. 1271-1276
32. Papadopoulos E., Papadimitriou I., and Poulakakis I. Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems. Int. J. Robotic and Autonomous Systems 51 (2005) 229-247
33. Perrier, C., Dauchez, P., Pierrot, F., 1998. A global approach for motion generation of non-holonomic mobile manipulators. In: IEEE International Conference on Robotics and Automation, pp. 2971-2976
34. Pontryagin L., Boltianski V., Gamkrelidze R., and Michtchenko E. Théorie mathématique des processus optimaux (1965), Ed. Mir
35. Pin F.G., Culioli J.C., and Reister D.B. Using mini-max approaches to plan optimal task commutation configurations for combined mobile platform-manipulator systems. IEEE Trans. Robotics and Automation 10 1 (1994) 44-54
36. Pin, F.G., Hacker, C.J., Gower, K.B., Morgansen, K.A., 1997. Including a non-holonomic constraint in the FSP (Full Space Parameterization) method for mobile manipulators' motion planning. In: IEEE International Conference en Robotics and Automation, pp. 2914-2919
37. Takanishi, A., Tochizawa, M., Takeya, T., Karaki,, H., Kato, I., 1989. Realization of dynamic biped walking stabilized with trunk motion under known external force. In: International Conference on Advanced Robotics, pp. 299-310
38. Vukobratovic M., Frank A.A., and Juricic D. On the stability of biped locomotion. IEEE Trans. Bio-medical Engineering BME-17 (1970) 25-36
39. Watanabe, K., Kiguchi, K., Izumi, K., Kunitake, Y., 1999. Path planning for an omni-directional mobile manipulator by evolutionary computation. In: Third International Conference on Knowledge-Based Intelligent Information Engineering Systems, Adelaide, Australia, pp. 135-140
40. Zhao, M., Ansari, N., Hou, E.S.H., 1992. Mobile manipulator path planning by genetic algorithm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 7, no, 10, pp. 681-688