TY - GEN
T1 - SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure
AU - Joo, Chang B.
AU - Kim, Joo H.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84896973435&partnerID=8YFLogxK
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U2 - 10.1115/DETC2013-13377
DO - 10.1115/DETC2013-13377
M3 - Conference contribution
AN - SCOPUS:84896973435
SN - 9780791855935
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 37th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers
T2 - ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
Y2 - 4 August 2013 through 7 August 2013
ER -