Planning and obstacle avoidance for mobile robots

Papadopoulos, E; Poulakakis, I

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Poulakakis, I	en
dc.date.accessioned	2014-03-01T02:41:57Z
dc.date.available	2014-03-01T02:41:57Z
dc.date.issued	2001	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30699
dc.subject	Mobile Manipulator	en
dc.subject	Mobile Robot	en
dc.subject	nonholonomic constraint	en
dc.subject	Obstacle Avoidance	en
dc.subject	Satisfiability	en
dc.subject.other	Mobile manipulator systems	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Kinematics	en
dc.subject.other	Manipulators	en
dc.subject.other	Motion planning	en
dc.subject.other	Polynomials	en
dc.subject.other	Mobile robots	en
dc.title	Planning and obstacle avoidance for mobile robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2001.933236	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2001.933236	en
heal.publicationDate	2001	en
heal.abstract	A planning methodology for nonholonomic mobile manipulators that employs smooth and continuous functions such as polynomials is developed. The method decouples kinematically the manipulator from the platform by constructing admissible paths that drive it to a final configuration and is based on mapping the nonholonomic constraint to a space where it can be trivially satisfied. In addition, the method allows for direct control over the platform orientation. The developed transformation also maps Cartesian space obstacles to transformed ones and allows for obstacle avoidance by increasing the order of the polynomials that are used in planning trajectories. The additional parameters required are computed systematically. It is shown how the method can be extended for avoiding obstacles of any number.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2001.933236	en
dc.identifier.volume	4	en
dc.identifier.spage	3967	en
dc.identifier.epage	3972	en