Abstract
This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal configuration avoiding obstacles. It modifies planned trajectory at every sampling time using elastic force and potential field force. It puts way poses throughout a planned trajectory, and the trajectory modification is accomplished by adjusting the way poses. The way poses are adjusted subject to the elastic force and the potential field force. The procedure repeats until the robot reaches its goal configuration through the way poses. This method results in smooth and adaptive trajectory in an environment with moving as well as stationary obstacles.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. The Int. J. Robotics Research 5(1), 90–98 (1986)
Boernstein, J., Koren, Y.: The vector field histogram-fast obstacle avoidance for mobile robots. IEEE Transaction on Robotics Automation 7(3), 278–288 (1991)
Batavia, P., Nourbakhsh, I.: Path Planning for the Cye Personal Robot. In: Proc. International Conference in Intelligent Robots and Systems (IROS 2000), October 2000, vol. 1, pp. 15–20 (2000)
Simmons, R.: The Curvature-Velocity Method for Local Obstacle Avoidance. In: Proc. 1996 IEEE International Conference on Robotics and Automation, Minneapolis MN, April 1996, pp. 3375–3382 (1996)
Ko, N.Y., Simmons, R.: The Lane-curvature Method for Local Obstacle Avoidance. In: Victoria, B.C. (ed.) Proc. International Conference in Intelligent Robots and Systems (IROS 1998), Canada, October 13-17, 1998, pp. 1615–1621 (1998)
Brock, O., Khatib, O.: High-Speed Navigation Using the Global Dynamic Approach. In: Proc. of the IEEE Int. Conf. on Robotics and Automation, May 1999, vol. 1, pp. 341–346 (1999)
Fox, D., Burgard, W., Thrun, S.: The dynamic windows approach to collision avoidance. IEEE Robotics and automation magazine 4(1) (March 1997)
Quinlan, S., Khatib, O.: Elastic Bands: Connecting path planning and control. In: Proc. 1993 IEEE Int. Conf. on Robotics and Automation, vol. 2, pp. 802–807 (1993)
Siegwart, R., et al.: Robox at Expo.02: A large scale Installation of Personal Robots. Journal of Robotics and Autonomous Systems 42, 203–222 (2003)
Brock, O.: Generating robot motion: The integration of planning and execution. PhD thesis, Stanford Univ (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ko, N.Y., Simmons, R.G., Seo, D.J. (2006). Trajectory Modification Using Elastic Force for Collision Avoidance of a Mobile Manipulator. In: Yang, Q., Webb, G. (eds) PRICAI 2006: Trends in Artificial Intelligence. PRICAI 2006. Lecture Notes in Computer Science(), vol 4099. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36668-3_22
Download citation
DOI: https://doi.org/10.1007/978-3-540-36668-3_22
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-36667-6
Online ISBN: 978-3-540-36668-3
eBook Packages: Computer ScienceComputer Science (R0)