Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments With Unforeseen Changes

This paper introduces a novel and general real-time adaptive motion planning (RAMP) approach suitable for planning trajectories of high-DOF or redundant robots, such as mobile manipulators, in dynamic environments with moving obstacles of unknown trajectories. The RAMP approach enables simultaneous...

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Veröffentlicht in:	IEEE transactions on robotics 2008-10, Vol.24 (5), p.1199-1212
Hauptverfasser:	Vannoy, J., Jing Xiao
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive Applied sciences Buildings Computer science control theory systems Control theory. Systems Drives dynamic obstacles of unknown motion Dynamics Exact sciences and technology Intelligent robots Linkage mechanisms, cams loose coupling Manipulator dynamics Manipulators Mechanical engineering. Machine design mobile manipulators Mobile robots Motion planning Optimization Orbital robotics partially specified goal Path planning Planning Ramps Real time redundant robots Robot arms Robotics Robots Sampling methods Simulation Testing Trajectories Trajectory trajectory optimization
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