An HQP-Based Obstacle Avoidance Control Scheme for Redundant Mobile Manipulators Under Multiple Constraints
Jingmou Nie, Yaonan Wang, Yang Mo, Zhiqiang Miao, Yiming Jiang, Hang Zhong, Jie Lin
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 paper, 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 PPF. Finally, the effectiveness and superiority of the proposed method are verified by simulations and experiments.