An open-source motion planning framework for mobile manipulators using constraint-based task space control with linear MPC
Simon Stelter,Georg Bartels,Michael Beetz,Simon Stelter,Georg Bartels,Michael Beetz
We present an open source motion planning framework for ROS, which uses constraint and optimization based task space control to generate trajectories for the whole body of mobile manipulators. Motion goals are defined as constraints which are enforced on task space functions. They map the controllable degrees of freedom of a system onto custom task spaces, which can, but do not have to be, the Car...
