Proceedings ArticleDOI
Path Planning through Tight Spaces for Payload Transportation using Multiple Mobile Manipulators
Rahul Tallamraju,Venkatesh Sripada,Suril V. Shah +2 more
- pp 1-6
TLDR
This paper plans an obstacle-free trajectory in $\mathbb{R}^{3}$ for the payload being transported and near-energy optimal and quasi-statically stable paths are planned for the formation of robots along this trajectory using non-linear multi-objective optimization.Abstract:
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 $\mathbb{R}^{3}$ 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.read more
References
More filters
Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Journal Article
Rapidly-exploring random trees : a new tool for path planning
TL;DR: The Rapidly-exploring Random Tree (RRT) as discussed by the authors is a data structure designed for path planning problems with high degrees of freedom and non-holonomic constraints, including dynamics.
Journal ArticleDOI
Behavior-based formation control for multirobot teams
Tucker Balch,Ronald C. Arkin +1 more
TL;DR: New reactive behaviors that implement formations in multirobot teams are presented and evaluated and demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.
Journal ArticleDOI
Multi-objective optimization using genetic algorithms: A tutorial
TL;DR: An overview and tutorial is presented describing genetic algorithms (GA) developed specifically for problems with multiple objectives that differ primarily from traditional GA by using specialized fitness functions and introducing methods to promote solution diversity.
Journal ArticleDOI
The Open Motion Planning Library
TL;DR: The open motion planning library is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms, and it can be conveniently interfaced with other software components.