A control-based approach to task-constrained motion planning

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 control-based randomized approach relying on a motion generation scheme that guarantees continued satisfaction of such constraint. The resulting planner allows to achieve accurate execution of the desired task without increasing the size 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.

[1]  Giuseppe Oriolo,et al.  Motion Planning for Mobile Manipulators along Given End-effector Paths , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[2]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[3]  Mike Stilman,et al.  Task constrained motion planning in robot joint space , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Giuseppe Oriolo,et al.  Kinematically Redundant Manipulators , 2008, Springer Handbook of Robotics.

[5]  Bruno Siciliano,et al.  Kinematic control of redundant robot manipulators: A tutorial , 1990, J. Intell. Robotic Syst..

[6]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[7]  J. Burdick.  On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds , 1989 .

[8]  Thierry Siméon,et al.  A random loop generator for planning the motions of closed kinematic chains using PRM methods , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[9]  S. LaValle.  Rapidly-exploring random trees : a new tool for path planning , 1998 .

[10]  Giuseppe Oriolo,et al.  Image-based visual servoing schemes for nonholonomic mobile manipulators , 2007, Robotica.

[11]  Howie Choset,et al.  Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1 , 2007 .

[12]  Marilena Vendittelli,et al.  Probabilistic motion planning for redundant robots along given end-effector paths , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[14]  John Baillieul,et al.  Resolution of Kinematic Redundancy using Optimization Techniques , 1988, 1988 American Control Conference.

[15]  Lydia E. Kavraki,et al.  Randomized path planning for linkages with closed kinematic chains , 2001, IEEE Trans. Robotics Autom..

[16]  Nancy M. Amato,et al.  A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems , 2001 .

[17]  Bruce Randall Donald,et al.  Kinodynamic motion planning , 1993, JACM.

[18]  Pedro Sanz.  Robotics: Modeling, Planning, and Control (Siciliano, B. et al; 2009) [On the Shelf] , 2009, IEEE Robotics & Automation Magazine.

[19]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[20]  Jean-Claude Latombe,et al.  Nonholonomic multibody mobile robots: Controllability and motion planning in the presence of obstacles , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[21]  Stephen L. Chiu,et al.  Task Compatibility of Manipulator Postures , 1988, Int. J. Robotics Res..

[22]  J.-P. Laumond,et al.  Move3D: A generic platform for path planning , 2001, Proceedings of the 2001 IEEE International Symposium on Assembly and Task Planning (ISATP2001). Assembly and Disassembly in the Twenty-first Century. (Cat. No.01TH8560).