1996 International Conference on Robotics and Automation c 1996 IEEEMinneapolis
نویسندگان
چکیده
c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulators on nonholonomic carts. The mobile manipulators possess the ability to manipulate and transport objects while holding them in a stable grasp. We present a general approach that allows generation of optimal trajectories and actuator inputs for any given maneuver. Constraints such as limitations on the turning radii of the mobile manipulators or bounds on their separation can be easily incorporated into the planning scheme. Numerical solutions for several maneuvers including abrupt turns, parallel parking in cluttered environments and changes in formation are computed. Finally, we present experimental results with two mobile manipulators.
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International Conference on Robotics and Automation c 1996 IEEEMinneapolis , MN
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