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Optimally Stable Mobile Manipulator Path
Planning
Mobile manipulators such as mechanical loaders
and rescue robots consist of a moving base and a one (or multi) degree of
freedom arm attached to the base. In many circumstances mobile manipulators
are supposed to move on uneven terrains and may get into postures dangerous
for their stability. The aim of my work was to develop and implement an
active real-time feedback control to be installed on such vehicles to
enhance their stability by static and dynamic compensatory motion of their
arms. This compensatory motion is similar to what our hands do when we are
about to fall down.
Examples of Mobile Manipulators in real life
Classical control methods are based on closed form or approximate
analytical solutions which - although very good in simple less degree of
freedom robots- in
real many degree of freedom mobile manipulators are very slow and
non-reliable. For high degree of freedom robots, inherent complexity of
equations and the need to real-time answers to the optimization problem
sparked us to apply artificial intelligence techniques. We developed an
algorithm that invokes combinatory Artificial Neural Networks and Genetic
Algorithms to achieve a robust feedback control. We showed the performance
of our approach via many numerical examples.
Schematic of
problem definition.
References:
- Meghdari A, Naderi D, Alam M.R., “Neural-network-based observer for
real-time tipover estimation”, Mechatronics 15 (8): 989-1004 October 2005.
[PDF]
- Meghdari A., Naderi, D. and Alam, M.R., “Tipover Stability Estimation for
Autonomous Mobile Manipulator Using Neural Network” Proceedings of the 2004
Japan–USA Symposium on Flexible Automation, JUSFA 2004, pp. 19-25.
- Meghdari A., Naderi, D. and Alam, M.R., “Real-Time Compensatory
Manipulator Motion Planning for Stabilizing a Mobile Manipulator”
Proceedings of the 2003 ASME Int. Design Engineering Technical Conferences,
September 2003, pp. 2-6.
- Alam, M.R., Meghdari A. and Naderi, D., “Optimally Stable Mobile
Manipulator Path Planning Using Genetic Algorithm” Proceeding of
international conference of mechanical engineering (ISME 2003) Tehran-IRAN.
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