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

Chang B. Joo, Joo Hyun 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
Volume6 A
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

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

Fingerprint

Mobile Manipulator
Infeasibility
Motion Planning
Quadratic programming
Motion planning
Quadratic Programming
Manipulators
Valid
Composite function
Merit Function
Nonlinear Function
Weight Function
Normalization
Cost Function
Objective function
Cost functions
Demonstrate
Composite materials

ASJC Scopus subject areas

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

Cite this

Joo, C. B., & Kim, J. H. (2013). SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure. In 37th Mechanisms and Robotics Conference (Vol. 6 A). [V06AT07A075] American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-13377

SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure. / Joo, Chang B.; Kim, Joo Hyun.

37th Mechanisms and Robotics Conference. Vol. 6 A American Society of Mechanical Engineers, 2013. V06AT07A075.

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

Joo, CB & Kim, JH 2013, SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure. in 37th Mechanisms and Robotics Conference. vol. 6 A, V06AT07A075, American Society of Mechanical Engineers, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, United States, 8/4/13. https://doi.org/10.1115/DETC2013-13377
Joo CB, Kim JH. SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure. In 37th Mechanisms and Robotics Conference. Vol. 6 A. American Society of Mechanical Engineers. 2013. V06AT07A075 https://doi.org/10.1115/DETC2013-13377
Joo, Chang B. ; Kim, Joo Hyun. / SQP-based mobile manipulator motion planning with controlled infeasibility for physically valid task failure. 37th Mechanisms and Robotics Conference. Vol. 6 A American Society of Mechanical Engineers, 2013.
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