Path Planning Optimization for a Mobile Manipulator

被引：1
|
作者：
Silva, Goncalo [1 ]
Costa, Pedro [1 ,2 ,3 ]
Rocha, Luis [2 ,3 ]
Lima, Jose [2 ,3 ,4 ]
机构：
[1] Univ Porto, FEUP Fac Engn, Porto, Portugal
[2] INESC TEC INESC Technol & Sci, Porto, Portugal
[3] INESC Porto, Porto, Portugal
[4] IPB Braganca, Res Ctr Digitalizat & Intelligent Robot CeDRI, Braganca, Portugal
来源：
INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS (ICNAAM-2018) | 2019年 / 2116卷
关键词：
D O I：
10.1063/1.5114222
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
Nowadays, mobile manipulators are increasing its popularity on modern industries due to their ability to enhance process flexibility and performance. Mobile manipulators are a wide field of research and one of the main directions is trying to control the whole system as a single device. In this context, this paper addresses the problem of path planning of the end-effector of a mobile manipulator. The proposed approach is based on the integration of the kinematic chain of both the manipulator and the omni-directional base. At the end, a collision-free path planner for the mobile manipulator in complex and known environments with obstacles using A * is derived.
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页数：4
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