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Path Planning through Tight Spaces for Payload Transportation using Multiple Mobile Manipulators
R. Tallamraju, V. Sripada,
Published in Institute of Electrical and Electronics Engineers Inc.
In this paper, the problem of path planning through tight spaces, for the task of spatial payload transportation, using a formation of mobile manipulators is addressed. Due to the high dimensional configuration space of the system, efficient and geometrically stable path planning through tight spaces is challenging. We resolve this by planning the path for the system in two phases. First, an obstacle-free trajectory in {R}{3} for the payload being transported is determined using RRT. Next, near-energy optimal and quasi-statically stable paths are planned for the formation of robots along this trajectory using non-linear multi-objective optimization. We validate the proposed approach in simulation experiments and compare different multi-objective optimization algorithms to find energy optimal and geometrically stable robot path plans. © 2019 IEEE.
About the journal
JournalData powered by Typeset2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open AccessNo