Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment

Tang, Chin Pei; Miller, P.; Krovi, Venkat; Ryu, Ji-Chul; Agrawal, Sunil K.

doi:10.1109/tmech.2010.2066282

Cited by 80 publications

(34 citation statements)

References 11 publications

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“…Common examples for the above-mentioned system classes include wheeled vehicles with or without trailers. There exist elegant solutions of path planning and control especially for differentially driven and car-like robots [18][19][20][21] and mobile manipulators [22][23][24]. Most of the available work investigates differentially driven robots with one trailer [19] or more trailers [18,20].…”

Section: Related Workmentioning

confidence: 99%

Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

Kiss

Tevesz

2017

Journal of Advanced Transportation

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In this paper we introduce a novel method for obtaining good quality paths for autonomous road vehicles (e.g., cars or buses) in narrow environments. There are many traffic situations in urban scenarios where nontrivial maneuvering in narrow places is necessary. Navigating in cluttered parking lots or having to avoid obstacles blocking the way and finding a detour even in narrow streets are challenging, especially if the vehicle has large dimensions like a bus. We present a combined approximation-based approach to solve the path planning problem in such situations. Our approach consists of a global planner which generates a preliminary path consisting of straight and turning-in-place primitives and a local planner which is used to make the preliminary path feasible to car-like vehicles. The approximation methodology is well known in the literature; however, both components proposed in this paper differ from existing similar planning methods. The approximation process with the proposed local planner is proven to be convergent for any preliminary global paths. The resulting path has continuous curvature which renders our method well suited for application on real vehicles. Simulation experiments show that the proposed method outperforms similar approaches in terms of path quality in complicated planning tasks.

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Section: Related Workmentioning

confidence: 99%

Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

Kiss

Tevesz

2017

Journal of Advanced Transportation

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“…Shin et al [41], in 2003, presented a motion planning method for mobile manipulators where the base was moved to discrete poses from which the manipulator could be deployed to cover a prescribed trajectory. Finally, in 2011, Tang et al [42] presented differential-flatness-based, integrated, point-to-point trajectory planning and control.…”

Section: Trajectory Planningmentioning

confidence: 99%

Survey of Research for Performance Measurement of Mobile Manipulators

Bostelman¹,

Hong²,

Marvel³

2016

J. RES. NATL. INST. STAN.

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This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and control references as this has been the major research focus for mobile manipulators which factors into performance measurement of the system. The survey then reviews performance metrics considered for mobile robots, robot arms, and mobile manipulators and the systems that measure their performance, including machine tool measurement systems through dynamic motion tracking systems. Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator artifacts that are being considered for evaluation of mobile manipulator performance.

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“…The manipulator arm is mounted on the mobile base at Pi (see Figure 1). In this work, we adopt the sort of planar manipulator models used in the works of Ryu and Agrawal [21] [22]. These manipulators are characterized as follows:…”

Section: Dynamic Model Of the Underactuated Mobile Manipulatormentioning

confidence: 99%

“…Agrawal and his co-workers have developed interesting studies on the planning and control of mobile manipulators based on the differential flatness property which have been helpful in the preparation of this article. In particular, they demonstrated its control integration in a experimental mobile manipulator [21] and developed studies concerning the planning and control of these manipulators based on the differential flatness property [22]- [25].…”

Section: Introductionmentioning

confidence: 99%

Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

2013

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Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment

Cited by 80 publications

References 11 publications

Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

Autonomous Path Planning for Road Vehicles in Narrow Environments: An Efficient Continuous Curvature Approach

Survey of Research for Performance Measurement of Mobile Manipulators

Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

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