Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems

Papadopoulos, E; Papadimitriou, I; Poulakakis, I

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Papadimitriou, I	en
dc.contributor.author	Poulakakis, I	en
dc.date.accessioned	2014-03-01T01:22:57Z
dc.date.available	2014-03-01T01:22:57Z
dc.date.issued	2005	en
dc.identifier.issn	0921-8890	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/16738
dc.subject	Mobile manipulators	en
dc.subject	Nonholonomic	en
dc.subject	Obstacle avoidance	en
dc.subject	Path planning	en
dc.subject	Phafians	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Algebra	en
dc.subject.other	Algorithms	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Dynamic programming	en
dc.subject.other	Functions	en
dc.subject.other	Manipulators	en
dc.subject.other	Mobile robots	en
dc.subject.other	Problem solving	en
dc.subject.other	Mobile manipulators	en
dc.subject.other	Nonholonomic	en
dc.subject.other	Path planning phafians	en
dc.subject.other	Remote environments	en
dc.subject.other	Polynomials	en
dc.title	Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.robot.2005.03.006	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.robot.2005.03.006	en
heal.language	English	en
heal.publicationDate	2005	en
heal.abstract	A planning methodology for nonholonomic mobile manipulators in the presence of obstacles is developed. The method employs smooth and continuous functions, such as polynomials, and it is very fast, easy to use and computationally inexpensive. The core of the method is based on mapping the nonholonomic constraint to a space where it can be satisfied trivially. In this paper, the method is first extended to include polygonal obstacles of any kind, allowing for less conservative workspace representations. The algebraic nature of the methodology and its advantages are retained. To improve the performance of the method in finding collision-free paths with smaller length, two techniques are studied in detail. The first uses intermediate path points and the second exploits the periodicity of the trigonometric functions involved. The proposed methodology is also extended to the case of obstacles that are moving in the workspace with a priori known trajectories. This case is illustrated by an example of great application interest, in which the end-point follows a desired Cartesian trajectory while the platform and the manipulator follow valid and collision-free paths connecting given initial and final points. Additional illustrative examples demonstrate the planning methodologies in a variety of obstructed spaces. (c) 2005 Elsevier B.V. All rights reserved.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Robotics and Autonomous Systems	en
dc.identifier.doi	10.1016/j.robot.2005.03.006	en
dc.identifier.isi	ISI:000229892300001	en
dc.identifier.volume	51	en
dc.identifier.issue	4	en
dc.identifier.spage	229	en
dc.identifier.epage	247	en