A kinodynamic approach to task-constrained motion planning

Giuseppe Oriolo (), Pietro Peliti () and Marilena Vendittelli ()
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Giuseppe Oriolo: Dipartimento di Informatica e Sistemistica Universita' di Roma La Sapienza Via Ariosto 25, 00185 Roma, Italy
Pietro Peliti: Dipartimento di Informatica e Sistemistica Universita' di Roma La Sapienza Via Ariosto 25, 00185 Roma, Italy
Marilena Vendittelli: Dipartimento di Informatica e Sistemistica Universita' di Roma La Sapienza Via Ariosto 25, 00185 Roma, Italy

No 2009-04, DIS Technical Reports from Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza"

Abstract: We consider the problem of planning collision-free motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approaches to the solution are based on the idea of sampling and inverting the task constraint to build a roadmap of task-constrained configurations which are then connected by simple local paths; hence, task tracking is not enforced during the motion between samples. Here, we present a kinodynamic approach based on a motion generation scheme that guarantees continued satisfaction of such constraint. The resulting randomized planner allows to achieve accurate execution of the desired task without increasing the complexity of the roadmap. Numerical results on a fixed-base manipulator and a free-fying mobile manipulator are presented to illustrate the performance improvement obtained with the proposed technique.

Keywords: redundant robots; kinodynamic planning; task space constraints. (search for similar items in EconPapers)
Pages: 16 pages
Date: 2009
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