An HQP-Based Obstacle Avoidance Control Scheme for Redundant Mobile Manipulators Under Multiple Constraints

Authors:
Publisher website
Google Scholar
Abstract
It is a challenging problem for redundant wheeled mobile manipulators to satisfy multiple physical constraints and avoid obstacles while performing certain tasks, not to mention constraining tracking performance. In this article, a control scheme based on hierarchical quadratic programming-prescribed performance control (HQP-PPC) is proposed. The first layer of HQP can achieve trajectory tracking, obstacle avoidance, and physical constraints. The second layer of HQP is used to guide the direction of obstacle avoidance and produce a smoother planned path. The prescribed performance function (PPF) can ensure tracking performance so that the physical constraints and obstacle avoidance constraints are satisfied in actual motion. Moreover, the proposed controller can guarantee the tracking performance of the end effector due to the characteristics of the PPF. Finally, the effectiveness and superiority of the proposed method are verified by simulations and experiments.
Funding Information
  • National Key Research and Development Program of China (2021YFB1714700)
  • National Natural Science Foundation of China (61903135, 61733004, 62076091, 62003136)
  • Natural Science Foundation of Hunan Province (2021JJ20029)
  • science and technology innovation Program of Hunan Province (2021RC3060)
  • Special funding support for the construction of innovative provinces in Hunan Province (2019GK1010, 2021GK1010)
  • Fellowship of the China Postdoctoral Science Foundation (2020M672486)
  • Changsha Municipal Natural Science Foundation (kq2014060, kq2014056)
  • Major Project of Science and Technology Innovation (2021ZD0113100)
  • State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body

This publication has 36 references indexed in Scilit: