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http://dx.doi.org/10.7746/jkros.2022.17.3.359

NMPC-based Obstacle Avoidance and Whole-body Motion Planning for Mobile Manipulator  

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)
Publication Information
The Journal of Korea Robotics Society / v.17, no.3, 2022 , pp. 359-364 More about this Journal
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
Mobile Manipulator; Nonlinear Model Predictive Control (NMPC); Whole-Body Motion Planning; Obstacle Avoidance;
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Times Cited By KSCI : 1  (Citation Analysis)
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