Name
Title | ||
|---|---|---|
Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control. |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICRA.2017.7989388 | ICRA |
DocType | Volume | Issue |
Conference | abs/1701.08051 | 1 |
Citations | PageRank | References |
8 | 0.61 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Markus Giftthaler | 1 | 36 | 5.11 |
| Farbod Farshidian | 2 | 33 | 6.10 |
| Timothy Sandy | 3 | 15 | 3.65 |
| Lukas Stadelmann | 4 | 8 | 0.95 |
| Jonas Buchli | 5 | 1081 | 72.94 |