Collision and Rollover-Free g2 Path Planning for Mobile Manipulation
Jiazhi Song,Inna Sharf,Jiazhi Song,Inna Sharf
This paper presents a path planning refinement technique that allows the efficient collision and rollover-free motion planning for mobile manipulator robots working on rough terrain. First, the necessary theoretical background on a mobile manipulator's kinematics and dynamic stability measure is introduced. Then, after the brief introduction of the sampling-based path planning problem, the additio...
