Motion Planning of Cooperative Nonholonomic Mobile Manipulators
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866911691170643968 |
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| author | Patra, Keshab Sinha, Arpita Guha, Anirban |
| author_facet | Patra, Keshab Sinha, Arpita Guha, Anirban |
| contents | We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the static, obstacle-free regions in the environment and generates a set of convex, static, obstacle-free regions around the path using a novel, fast, and computationally lightweight ellipse-based technique. We introduce a nonlinear Model Predictive Control (NMPC) based real-time implementable planning technique that jointly plans feasible motion for the mobile base and the manipulator's arm and generates a kinodynamic feasible, collision-free trajectory for cooperative object transportation. Simulation and hardware experiments validate the efficiency of our proposed planning framework. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_05462 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Motion Planning of Cooperative Nonholonomic Mobile Manipulators Patra, Keshab Sinha, Arpita Guha, Anirban Robotics Multiagent Systems Systems and Control Optimization and Control We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the static, obstacle-free regions in the environment and generates a set of convex, static, obstacle-free regions around the path using a novel, fast, and computationally lightweight ellipse-based technique. We introduce a nonlinear Model Predictive Control (NMPC) based real-time implementable planning technique that jointly plans feasible motion for the mobile base and the manipulator's arm and generates a kinodynamic feasible, collision-free trajectory for cooperative object transportation. Simulation and hardware experiments validate the efficiency of our proposed planning framework. |
| title | Motion Planning of Cooperative Nonholonomic Mobile Manipulators |
| topic | Robotics Multiagent Systems Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2502.05462 |