Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control
It addresses trajectory planning for mobile manipulators in robotics, which is an incremental improvement in efficiency for specific robotic systems.
This work tackles kinematic trajectory planning for mobile manipulators with non-holonomic constraints by solving a Constrained Sequential Linear Quadratic Optimal Control problem, achieving efficient planning with controllers and plans at rates up to 100 Hz in real-world applications.
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear Quadratic Optimal Control problem. The employed algorithm features high efficiency through a continuous-time formulation that benefits from adaptive step-size integrators and through linear complexity in the number of integration steps. In a first application example, we solve kinematic trajectory planning problems for a 26 DoF wheeled robot. In a second example, we apply Constrained SLQ to a real-world mobile manipulator in a receding-horizon optimal control fashion, where we obtain optimal controllers and plans at rates up to 100 Hz.