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Article: Online sensor information and redundancy resolution based obstacle avoidance for high DOF mobile manipulator teleoperation

TitleOnline sensor information and redundancy resolution based obstacle avoidance for high DOF mobile manipulator teleoperation
Authors
KeywordsRedundancy resolution
Teleoperation
Mobile manipulator
Obstacle avoidance
Issue Date2013
Citation
International Journal of Advanced Robotic Systems, 2013, v. 10 How to Cite?
AbstractHigh degrees of freedom (DOF) mobile manipulators provide more flexibility than conventional manipulators. They also provide manipulation operations with a mobility capacity and have potential in many applications. However, due to high redundancy, planning and control become more complicated and difficult, especially when obstacles occur. Most existing obstacle avoidance methods are based on off-line algorithms and most of them mainly focus on planning a new collision-free path, which is not appropriate for some applications, such as teleoperation and uses many system resources as well. Therefore, this paper presents an online planning and control method for obstacle avoidance in mobile manipulators using online sensor information and redundancy resolution. An obstacle contour reconstruction approach employing a mobile manipulator equipped with an active laser scanner system is also introduced in this paper. This method is implemented using a mobile manipulator with a seven-DOF manipulator and a four-wheel drive mobile base. The experimental results demonstrate the effectiveness of this method. © 2013 Zhang et al.; licensee InTech.
Persistent Identifierhttp://hdl.handle.net/10722/213316
ISSN
2015 Impact Factor: 0.615
2015 SCImago Journal Rankings: 0.402

 

DC FieldValueLanguage
dc.contributor.authorZhang, Huatao-
dc.contributor.authorJia, Yunyi-
dc.contributor.authorGuo, Yan-
dc.contributor.authorQian, Kui-
dc.contributor.authorSong, Aiguo-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:52Z-
dc.date.available2015-07-28T04:06:52Z-
dc.date.issued2013-
dc.identifier.citationInternational Journal of Advanced Robotic Systems, 2013, v. 10-
dc.identifier.issn1729-8806-
dc.identifier.urihttp://hdl.handle.net/10722/213316-
dc.description.abstractHigh degrees of freedom (DOF) mobile manipulators provide more flexibility than conventional manipulators. They also provide manipulation operations with a mobility capacity and have potential in many applications. However, due to high redundancy, planning and control become more complicated and difficult, especially when obstacles occur. Most existing obstacle avoidance methods are based on off-line algorithms and most of them mainly focus on planning a new collision-free path, which is not appropriate for some applications, such as teleoperation and uses many system resources as well. Therefore, this paper presents an online planning and control method for obstacle avoidance in mobile manipulators using online sensor information and redundancy resolution. An obstacle contour reconstruction approach employing a mobile manipulator equipped with an active laser scanner system is also introduced in this paper. This method is implemented using a mobile manipulator with a seven-DOF manipulator and a four-wheel drive mobile base. The experimental results demonstrate the effectiveness of this method. © 2013 Zhang et al.; licensee InTech.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Advanced Robotic Systems-
dc.subjectRedundancy resolution-
dc.subjectTeleoperation-
dc.subjectMobile manipulator-
dc.subjectObstacle avoidance-
dc.titleOnline sensor information and redundancy resolution based obstacle avoidance for high DOF mobile manipulator teleoperation-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.5772/56470-
dc.identifier.scopuseid_2-s2.0-84879247383-
dc.identifier.volume10-
dc.identifier.eissn1729-8814-

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