An Optimization Approach to Planning for Mobile Manipulation

Dmitry Berenson, Howie Choset and James Kuffner
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA) 2008, pp. 1187-1192, May, 2008

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We present an optimization-based approach to grasping and path planning for mobile manipulators. We focus on pick-and-place operations, where a given object must be moved from its start configuration to its goal configuration by the robot. Given only the start and goal configurations of the object and a model of the robot and scene, our algorithm finds a grasp and a trajectory for the robot that will bring the object to its goal configuration. The algorithm consists of two phases: optimization and planning. In the optimization phase, the optimal robot configurations and grasp are found for the object in its start and goal configurations using a co-evolutionary algorithm. In the planning phase, a path is found connecting the two robot configurations found by the optimization phase using Rapidly-Exploring Random Trees (RRTs). We benchmark our algorithm and demonstrate it on a 10 DOF mobile manipulator performing complex pick-and-place tasks in simulation.

author = {Dmitry Berenson and Howie Choset and James Kuffner},
title = {An Optimization Approach to Planning for Mobile Manipulation},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA) 2008},
year = {2008},
month = {May},
pages = {1187-1192},
keywords = {mobile manipulation, genetic algorithms, path planning, grasping},
} 2017-09-13T10:41:44-04:00