The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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NMPC-based Obstacle Avoidance and Whole-body Motion Planning for Mobile Manipulator

모바일 매니퓰레이터의 NMPC 기반 장애물 회피 및 전신 모션 플래닝

  • Kim, Sunhong (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Sathya, Ajay (Mechatronics, Robotics, and Automation Engineering, KU Leuven) ;
  • Swevers, Jan (Mechanical Engineering, KU Leuven) ;
  • Choi, Youngjin (Department of Electrical and Electronic Engineering, Hanyang University ERICA)
  • Received : 2022.03.24
  • Accepted : 2022.04.22
  • Published : 2022.08.31
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Abstract

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

Keywords

Acknowledgement

This research was supported by the Ministry of Trade, Industry, and Energy in Korea, under the Fostering Global Talents for Innovative Growth Program (P0008745) and the Technology Innovation Program (20008908) supervised by the Korea Institute for Advancement of Technology (KIAT), Republic of Korea

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