Point-to-point trajectory planning of wheeled mobile manipulators with stability constraint. Extension of the random-profile approach

DOI10.1016/J.EUROMECHSOL.2008.06.008MaRDI QIDQ1012265zbMATH OpenOpenAlexFDO

Authors J. Martínez

Publication date 15 April 2009

Published in European Journal of Mechanics. A. Solids (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.euromechsol.2008.06.008

zbMATH Keywords

stochastic optimizationtrajectory planningstability constraintmobile manipulator

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Stability problems in rigid body dynamics (70E50)

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• A random-profile approach for trajectory planning of wheeled mobile robots
• An algorithm for convex constrained minimax optimization based on duality
• Control and stabilization of nonholonomic dynamic systems
• Dynamic Scaling of Manipulator Trajectories
• Optimization by simulated annealing

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(2)

• Optimization of the operation of the anthropomorphic manipulator in a three-dimensional working space
• A random-profile approach for trajectory planning of wheeled mobile robots

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