On path planning and obstacle avoidance for nonholonomic platforms with manipulators: A polynomial approach

Papadopoulos, E; Poulakakis, I; Papadimitriou, I

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Poulakakis, I	en
dc.contributor.author	Papadimitriou, I	en
dc.date.accessioned	2014-03-01T01:18:09Z
dc.date.available	2014-03-01T01:18:09Z
dc.date.issued	2002	en
dc.identifier.issn	0278-3649	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14820
dc.subject	Mobile manipulators	en
dc.subject	Nonholonomic systems	en
dc.subject	Obstacle avoidance	en
dc.subject	Path planning	en
dc.subject	Pfaffian constraints	en
dc.subject.classification	Robotics	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computational methods	en
dc.subject.other	Mobile robots	en
dc.subject.other	Motion planning	en
dc.subject.other	Polynomials	en
dc.subject.other	Mobile manipulators	en
dc.subject.other	Manipulators	en
dc.title	On path planning and obstacle avoidance for nonholonomic platforms with manipulators: A polynomial approach	en
heal.type	journalArticle	en
heal.identifier.primary	10.1177/027836402320556377	en
heal.identifier.secondary	http://dx.doi.org/10.1177/027836402320556377	en
heal.language	English	en
heal.publicationDate	2002	en
heal.abstract	A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method yields admissible input trajectories that drive both the manipulator and the platform to a desired configuration and is based on mapping the nonholonomic constraint to a space where it can be satisfied trivially. In addition, the method allows for direct control over the platform orientation. Cartesian space obstacles are also mapped into this space in which they can be avoided by increasing the order of the polynomials employed in planning trajectories. The additional parameters required are computed systematically, while the computational burden increases linearly with the number of obstacles and the system elements taken into account. Illustrative examples demonstrate the planning methodology in obstacle-free and obstructed environments.	en
heal.publisher	SAGE PUBLICATIONS LTD	en
heal.journalName	International Journal of Robotics Research	en
dc.identifier.doi	10.1177/027836402320556377	en
dc.identifier.isi	ISI:000178226700005	en
dc.identifier.volume	21	en
dc.identifier.issue	4	en
dc.identifier.spage	367	en
dc.identifier.epage	383	en