TY - GEN
T1 - Concurrent Path Planning for the End Effector and the Mobile Platform of an Autonomous Mobile Manipulator
AU - He, Rusheng
AU - Hsiao, Tesheng
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The autonomous mobile manipulator (AMM) that is able to navigate complicated environments and handle objects plays a crucial role in production lines of unmanned factories and warehouses automation. Path planning is a crucial function for an AMM to perform various tasks in a complicated environment. Efficiency, obstacle avoidance, (nonholonomic) kinematic constraints of AMMs and smoothness of the path are important factors that should be considered in path planning. Moreover, we consider to plan the paths of the manipulator and the mobile platform concurrently such that they can move simultaneously to reduce the execution time of a task. This paper proposes RRT-Connect-based path sampling and midpoint smoothing methods for this purpose. By sampling the paths of the end effector and the mobile platform separately, the path sampling can be accomplished efficiently. Then, the simple and effective midpoint smoothing algorithm is applied to generate a smooth and collision-free path based on the sampled points in the previous step. Simulations are conducted to verify the effectiveness of the proposed method in complicated environments like a warehouse with obstacles.
AB - The autonomous mobile manipulator (AMM) that is able to navigate complicated environments and handle objects plays a crucial role in production lines of unmanned factories and warehouses automation. Path planning is a crucial function for an AMM to perform various tasks in a complicated environment. Efficiency, obstacle avoidance, (nonholonomic) kinematic constraints of AMMs and smoothness of the path are important factors that should be considered in path planning. Moreover, we consider to plan the paths of the manipulator and the mobile platform concurrently such that they can move simultaneously to reduce the execution time of a task. This paper proposes RRT-Connect-based path sampling and midpoint smoothing methods for this purpose. By sampling the paths of the end effector and the mobile platform separately, the path sampling can be accomplished efficiently. Then, the simple and effective midpoint smoothing algorithm is applied to generate a smooth and collision-free path based on the sampled points in the previous step. Simulations are conducted to verify the effectiveness of the proposed method in complicated environments like a warehouse with obstacles.
KW - autonomous mobile manipulator
KW - path planning
KW - path smoothing
KW - rapidly exploring random trees (RRT)
UR - http://www.scopus.com/inward/record.url?scp=85179853687&partnerID=8YFLogxK
U2 - 10.1109/CACS60074.2023.10326188
DO - 10.1109/CACS60074.2023.10326188
M3 - Conference contribution
AN - SCOPUS:85179853687
T3 - 2023 International Automatic Control Conference, CACS 2023
BT - 2023 International Automatic Control Conference, CACS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Automatic Control Conference, CACS 2023
Y2 - 26 October 2023 through 29 October 2023
ER -