Abstract
In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obstacles. This paper presents a general formulation based on the combination of the potential field method and optimal control theory in order to plan the smooth point-to-point path of the tricycle mobile manipulators. The nonholonomic constraints of the tricycle mobile base are taken into account in the dynamic formulation of the system and then the optimality conditions are derived considering jerk restrictions and obstacle avoidance. Furthermore, by means of the potential field method, a new formulation of a repulsive potential function is proposed for collision avoidance between any obstacle and each part of the mobile manipulator. In addition, to ensure the accurate placement of the end effector on the target point an attractive potential function is applied to the optimal control formulation. Next, a mixed analytical-numerical algorithm is proposed to generate the point-to-point optimal path. Finally, the proposed method is verified by a number of simulations on a two-link tricycle manipulator.
Highlights
Wheeled mobile manipulators are manipulator systems mounted on mobile platforms
As is obvious from Eq 11, the presented repulsive potential function is proportional to the inverse of the second order of the relative distance between the mobile robot and the obstacle
A hybrid approach has been proposed for the smooth optimal path planning of tricycle mobile manipulators in the presence of obstacles, which combines the optimal control theory and the potential field method
Summary
Wheeled mobile manipulators are manipulator systems mounted on mobile platforms. These robots have been applied in a number of applications due to their ability to work in an extended workspace [1,2,3]. Wu et al [18] studied time optimal path planning for a wheeled mobile manipulator, considering its kinematic and dynamic constraints. Constantinescu and Croft [21] presented smooth and time‐optimal trajectory planning for industrial manipulators along specified paths They studied the upper bounds on the rate of torque variation, but in their work the third‐order dynamic of the manipulator must be modelled, which may cause more data generation during the optimal process. Gracia and Tornero [23] presented optimal trajectory planning for wheeled mobile robots based on kinematic singularity They only considered the kinematic model of the system, which may cause problems in practical application because of a lack of inertia and torque constraints. The optimality conditions are solved numerically and simulations are performed on a two‐link tricycle manipulator
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