Neuro-fuzzy and model-based motion control for mobile manipulator among dynamic obstacles

作     者：魏武 Jean Bosco Mbede 黄心汉 张毅 

作者机构：Department of Automation Tsinghua University Departement des Genies Industrie Universit de Yaound I Ecole Nationals Superieure Polytechnique Department of Control Science and Engineering Huazhong University of Science and Technology 

出 版 物：《Science in China(Series F)》 (中国科学（F辑英文版）)

年 卷 期：2003年第46卷第1期

页      面：14-30页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：autonomous mobile manipulators dynamic obstacle avoidance dynamic path planning model and sensor-based control neuro-fuzzy controller nonholonomic and redundant systems. 

摘      要：This paper focuses on autonomous motion control of a nonholonomic platform with a robotic arm, which is called mobile manipulator. It serves in transportation of loads in imperfectly known industrial environments with unknown dynamic obstacles. A union of both procedures is used to solve the general problems of collision-free motion. The problem of collision-free motion for mobile manipulators has been approached from two directions, Planning and Reactive Control. The dynamic path planning can be used to solve the problem of locomotion of mobile platform, and reactive approaches can be employed to solve the motion planning of the arm. The execution can generate the commands for the servo-systems of the robot so as to follow a given nominal trajectory while reacting in real-time to unexpected events. The execution can be designed as an Adaptive Fuzzy Neural Controller. In real world systems, sensor-based motion control becomes essential to deal with model uncertainties and unexpected obstacles.