モデル予測制御によるドア通過のための移動マニピュレータ動作計画
Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
移動マニピュレータがドアを開けて通過するための動作計画を、非線形MPCを用いてロボットとドアを連成系として扱い、衝突回避と操作可能性を考慮した軌道生成を行う手法を提案した。
著者: Kasra Sinaei, Kasun Weerakoon, Christopher Bradley, Seyed Abolfazl Fakoorian, Donald Ebeigbe
分類: cs.RO, eess.SY
原文アブストラクト
Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding explicit arm kinematic modeling in the planner. Simulations and a hardware experiment demonstrate that the approach successfully plans feasible trajectories for door traversal.