File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/IROS.2012.6386205
- Scopus: eid_2-s2.0-84872289945
- Find via
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Sensor-based redundancy resolution for a nonholonomic mobile manipulator
Title | Sensor-based redundancy resolution for a nonholonomic mobile manipulator |
---|---|
Authors | |
Issue Date | 2012 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2012, p. 5327-5332 How to Cite? |
Abstract | Redundant nonholonomic mobile manipulators have wide range applications in civilian and military areas. The high redundancy provides high operation flexibility but also introduces redundancy resolution problems. The existing methods mainly focus on the off-line redundancy resolution, and most of them are based on single objective optimization. However, in order to efficiently accomplish a specific task, the dynamic environment information, task constraints and requirements should be considered. This paper investigates a new method which employs the onboard sensor information to resolve the redundancy online by realizing multiple objectives optimization. The effectiveness of this method is demonstrated by simulation results. © 2012 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/213286 |
ISSN | 2020 SCImago Journal Rankings: 0.597 |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Zhang, Huatao | - |
dc.contributor.author | Jia, Yunyi | - |
dc.contributor.author | Xi, Ning | - |
dc.date.accessioned | 2015-07-28T04:06:47Z | - |
dc.date.available | 2015-07-28T04:06:47Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2012, p. 5327-5332 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/213286 | - |
dc.description.abstract | Redundant nonholonomic mobile manipulators have wide range applications in civilian and military areas. The high redundancy provides high operation flexibility but also introduces redundancy resolution problems. The existing methods mainly focus on the off-line redundancy resolution, and most of them are based on single objective optimization. However, in order to efficiently accomplish a specific task, the dynamic environment information, task constraints and requirements should be considered. This paper investigates a new method which employs the onboard sensor information to resolve the redundancy online by realizing multiple objectives optimization. The effectiveness of this method is demonstrated by simulation results. © 2012 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Sensor-based redundancy resolution for a nonholonomic mobile manipulator | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2012.6386205 | - |
dc.identifier.scopus | eid_2-s2.0-84872289945 | - |
dc.identifier.spage | 5327 | - |
dc.identifier.epage | 5332 | - |
dc.identifier.eissn | 2153-0866 | - |
dc.identifier.issnl | 2153-0858 | - |