Optimal motion planner of mobile manipulators in generalized point-to-point task

Abstract

In this paper, a trajectory planning method of a mobile manipulator is presented. The problem is known to be complex in particular when dynamics is taken into account. Our approach is based on a simultaneous search for the robot path and the time evolution on this path. The whole problem is formulated in such a way that geometric and kinodynamic constraints are handled sequentially which makes more effective the use of a stochastic optimization technique