The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We address the problem of incorporating path planning with image-based control of a wheeled mobile manipulator (WMM) performing visually-guided tasks in complex environments. The WMM consists of a wheeled (non-holonomic) mobile platform and an on-board robotic arm equipped with a camera mounted at its end-effector. The visually-guided task is to move the WMM from an initial to a desired location while respecting image and physical constraints. We propose a kinodynamic planning approach that explores the camera state space for permissible trajectories by iteratively extending a search tree in this space and simultaneously tracking these trajectories in the WMM conﬁguration space. We utilize weighted pseudo-inverse Jacobian solutions combined with a null space optimization technique to effectively coordinate the motion of the mobile platform and the arm. We also present the preliminary results obtained by executing the planned trajectories on a real WMM system via a decoupled control scheme where the on-board arm is servo controlled along the planned feature trajectories while the mobile platform is simultaneously controlled along its trajectory using a state feedback tracking method.

Keywords

Mobile Manipulation, Visual Servoing

Notes

Text Reference

Moslem Kazemi, Kamal Gupta, and Mehran Mehrandezh, "Path Planning for Image-based Control of Wheeled Mobile Manipulators," IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012, pp. 5306-5312.

BibTeX Reference

@inproceedings{Kazemi_2012_7308,
   author = "Moslem Kazemi and Kamal Gupta and Mehran Mehrandezh",
   title = "Path Planning for Image-based Control of Wheeled Mobile Manipulators",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "5306-5312",
   month = "October",
   year = "2012",
}

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