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Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator.

Keunwoo Jang¹, Sanghyun Kim², Jaeheung Park^1,3

¹Graduate School of Convergence Science and Technology, Seoul National University, Seoul 08826, Korea.

Sensors (Basel, Switzerland)

|February 2, 2021

Summary

This summary is machine-generated.

This study presents a novel reactive self-collision avoidance algorithm for mobile manipulators. It uses a distance buffer border to move the robot base, ensuring manipulator safety without altering its primary motion.

Keywords:

mobile manipulation self-collision avoidance whole-body motion planning and control

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Mobile manipulators face challenges with self-collision between the robotic arm and the mobile base.
Existing methods often neglect robot constraints or workspace limitations.

Purpose of the Study:

To introduce a reactive self-collision avoidance algorithm for differentially driven mobile manipulators.
To prevent self-collision between the manipulator and the mobile robot base.

Main Methods:

Introduced a distance buffer border (DBB) concept defining a safety region around the mobile robot.
Implemented a strategy to move the mobile robot base away from the manipulator when it enters the buffer region.
Incorporated non-holonomic constraints and manipulator reachability into the avoidance strategy.
Utilized hierarchical quadratic programming to integrate the avoidance task as a high-priority control action.

Main Results:

The algorithm successfully prevented self-collision by actuating the mobile robot base.
The manipulator's predefined motion in the world Cartesian frame remained unmodified.
Consideration of non-holonomic constraints and reachability improved maneuverability and avoidance effectiveness.
Experimental validation on a 7-DOF robotic arm demonstrated robust performance in various scenarios.

Conclusions:

The proposed reactive self-collision avoidance algorithm is effective for mobile manipulators.
The DBB concept and mobile base actuation offer a distinct advantage over existing methods.
The approach enhances safety and maneuverability without compromising the manipulator's primary task execution.