SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure

Chang B. Joo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Since anticipating or recovering infeasibility in optimal motion planning is not always possible, infeasibilities occur frequently and are not completely avoidable. We introduce an enhanced sequential quadratic programming (SQP) based framework of controlled infeasibility for physically valid solutions, based on our previous study. A priority weight function is incorporated into an SQP algorithm combined with constraints and objective function normalization to ensure strict satisfaction of highpriority constraints. These are embedded in the SQP algorithm through its merit function and composite cost function, in which general nonlinear functions can be incorporated in a unified approach. Several simple mobile manipulator examples demonstrate the advantages of the proposed method.

Original languageEnglish (US)
Title of host publication37th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791855935
DOIs
StatePublished - 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume6 A

Other

OtherASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Fingerprint Dive into the research topics of 'SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure'. Together they form a unique fingerprint.

Cite this