Planning point to point paths for nonholonomic mobile manipulators

被引：0
|
作者：
Foulon, G [1 ]
Fourquet, JY [1 ]
Renaud, M [1 ]
机构：
[1] CNRS, LAAS, F-31077 Toulouse, France
来源：
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998年
关键词：
mobile manipulators; nonholonomy; redundancy; Point to Point Operational Tasks;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with path planning for mobile nonholonomic manipulator. The system is composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. We propose strategies for planning paths between two points in the generalized and operational spaces. Redundancy and optimization criteria are key elements of the approach. Applications follow for a planar system in the case of Point To Point Tasks.
引用
收藏
页码：374 / 379
页数：6
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