A control-based approach to task-constrained motion planning

Authors:
Giuseppe Oriolo;Marilena Vendittelli
Affiliations:
Dipartimento di Informatica Sistemistica, Universitá di Roma "La Sapienza", Roma, Italy;Dipartimento di Informatica Sistemistica, Universitá di Roma "La Sapienza", Roma, Italy
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
Cited 0

Task compatibility of manipulator postures

International Journal of Robotics Research
Kinodynamic motion planning

Journal of the ACM (JACM)
Advanced Robotics: Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization
Planning Algorithms

Planning Algorithms
Image-based visual servoing schemes for nonholonomic mobile manipulators

Robotica
Robotics: Modelling, Planning and Control

Robotics: Modelling, Planning and Control

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Abstract

We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approaches to the solution are based on the idea of sampling and inverting the task constraint to build a roadmap of task-constrained configurations which are then connected by simple local paths; hence, task tracking is not enforced during the motion between samples. Here, we present a control-based randomized approach relying on a motion generation scheme that guarantees continued satisfaction of such constraint. The resulting planner allows to achieve accurate execution of the desired task without increasing the size of the roadmap. Numerical results on a fixed-base manipulator and a free-fying mobile manipulator are presented to illustrate the performance improvement obtained with the proposed technique.