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- Title
Online Sensor Information and Redundancy Resolution Based Obstacle Avoidance for High DOF Mobile Manipulator Teleoperation.
- Authors
Huatao Zhang; Yunyi Jia; Yan Guo; Kui Qian; Aiguo Song; Ning Xi
- Abstract
High degrees of freedom (DOF) mobile manipulators provide more flexibility than conventional manipulators. They also provide manipulation operations with a mobility capacity and have potential in many applications. However, due to high redundancy, planning and control become more complicated and difficult, especially when obstacles occur. Most existing obstacle avoidance methods are based on off-line algorithms and most of them mainly focus on planning a new collision-free path, which is not appropriate for some applications, such as teleoperation and uses many system resources as well. Therefore, this paper presents an online planning and control method for obstacle avoidance in mobile manipulators using online sensor information and redundancy resolution. An obstacle contour reconstruction approach employing a mobile manipulator equipped with an active laser scanner system is also introduced in this paper. This method is implemented using a mobile manipulator with a seven-DOF manipulator and a four-wheel drive mobile base. The experimental results demonstrate the effectiveness of this method.
- Subjects
MOBILE robots; DEGREES of freedom; OBSTACLE avoidance (Robotics); MANIPULATORS (Machinery) -- Automatic control; ALGORITHMS; IMAGE reconstruction; REMOTE control; ONLINE data processing
- Publication
International Journal of Advanced Robotic Systems, 2013, Vol 10, Issue 5, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/56470