Concurrent Path Planning for the End Effector and the Mobile Platform of an Autonomous Mobile Manipulator

Rusheng He*, Tesheng Hsiao*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2023 International Automatic Control Conference, CACS 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350306354
DOIs
StatePublished - 2023
Event2023 International Automatic Control Conference, CACS 2023 - Penghu, Taiwan
Duration: 26 Oct 202329 Oct 2023

Publication series

Name2023 International Automatic Control Conference, CACS 2023

Conference

Conference2023 International Automatic Control Conference, CACS 2023
Country/TerritoryTaiwan
CityPenghu
Period26/10/2329/10/23

Keywords

  • autonomous mobile manipulator
  • path planning
  • path smoothing
  • rapidly exploring random trees (RRT)

Fingerprint

Dive into the research topics of 'Concurrent Path Planning for the End Effector and the Mobile Platform of an Autonomous Mobile Manipulator'. Together they form a unique fingerprint.

Cite this