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.