2023/09/21 by Quang-Nam Nguyen, Nguyen, Quang-Nam, Quang‐Cuong Pham +1
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2309.12251
openalex publication_date 2023/09/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile base also brings redundancy to the system, which makes mobile manipulator motion planning more challenging. In this paper, we tackle the mobile manipulator motion planning problem under the end-effector trajectory continuity constraint in which the end-effector is required to traverse a continuous task-space trajectory (time-parametrized path), such as in mobile printing or spraying applications. Our method decouples the problem into: (1) planning an optimal base trajectory subject to geometric task constraints, end-effector trajectory continuity constraint, collision avoidance, and base velocity constraint; which ensures that (2) a manipulator trajectory is computed subsequently based on the obtained base trajectory. To validate our method, we propose a discrete optimal base trajectory planning algorithm to solve several mobile printing tasks in hardware experiment and simulations.