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arXiv · 1701.08051

Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control

Markus Giftthaler·Farbod Farshidian·Timothy Sandy·Lukas Stadelmann·Jonas Buchli
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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.

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Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli. 2017-01-27. Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control. https://doi.org/10.1109/icra.2017.7989388

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