Kinodynamic Planning for Visual Servoing of a Wheeled Mobile Manipulator

This experiments demonstrates Kinodynamic Planning combined with Visual Servoing to guide a 9-DOF wheeled mobile manipulator with non-holonomic constraints.

In this experiment the base is controlled along its planned trajectory using a state feedback non-linear control while the arm is servo controlled along planned feature trajectories in the image space of the camera mounted at the arm end-effector. The aforementioned trajectories (pertinents to the base and the image features) are the results of Kinodynamic Planning performed off-line to move the whole mobile manipulator to a desired view for the camera while avoiding critical constraints such as occlusion and collision due to the long boxes in front of the robot, and the arm joint limits, camera field of view limits, and mobile base non-holonomic constraints.

Category:

Science & Technology

Tags:

• Visual
• Servoing;
• Kinodynamic
• Planning;
• Moslem
• Kazemi;
• Wheeled
• Mobile
• Manipulator