Path Planning for an Omnidirectional Mobile Manipulator by Evolutionary Strategy

Keigo Watanabe, Kiyotaka Izumi, Yutaka Kunitake, Kazuo Kiguchi

Research output: Contribution to journalArticle

Abstract

A path planning method is described for an omnidirectional mobile manipulator by applying an evolutionary strategy. For a path using B-spline, it is important to note how to choose some appropriate data points and the corresponding end points. The proposed approach can automatically select their points in a wide range, minimizing or maximizing the total cost function, which consists of several sub-cost functions such as motion smoothness, movable range of joint, singular orientation, falling down and obstacle avoidance. The simulation result shows that our method is useful for the path planning of a robot, which has many constraints and complicated evaluation like a mobile manipulator considered here.

Original languageEnglish
Pages (from-to)2897-2904
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume67
Issue number661
DOIs
Publication statusPublished - 2001
Externally publishedYes

Keywords

  • Evolutionary Strategy
  • Holonomic Mobile Manipulator
  • Optimization of B-spline
  • Path Planning

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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