Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization
Chengkai Wu,Ruilin Wang,Mianzhi Song,Fei Gao,Jie Mei,Boyu Zhou,Chengkai Wu,Ruilin Wang,Mianzhi Song,Fei Gao,Jie Mei,Boyu Zhou
Mobile manipulators have recently gained significant attention in the robotics community due to their superior potential in industrial and service applications. However, the high degree of freedom associated with mobile manipulators poses challenges in achieving real-time whole-body motion planning. To bridge the gap, this paper presents a motion planning method capable of generating high-quality,...
