Sub-optimal trajectory planning of mobile manipulator

A. Mohri, S. Furuno, M. Iwamura, M. Yamamoto

研究成果: ジャーナルへの寄稿会議記事査読

37 被引用数 (Scopus)


In this paper, a trajectory planning method of a mobile manipulator is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesize the gradient function in a hierarchical manner based on the order of priority is used. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版ステータス出版済み - 2001
イベント2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, 韓国
継続期間: 5月 21 20015月 26 2001

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学


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