Path planning for mobile manipulator robots under non-holonomic and task constraints
Tommaso Pardi,Vamsikrishna Maddali,Valerio Ortenzi,Rustam Stolkin,Naresh Marturi,Tommaso Pardi,Vamsikrishna Maddali,Valerio Ortenzi,Rustam Stolkin,Naresh Marturi
This paper presents a path planner, which enables a nonholonomic mobile manipulator to move its end-effector on an observed surface with a constrained orientation, given start and destination points. A partial point cloud of the environment is captured using a vision-based sensor, but no prior knowledge of the surface shape is assumed. We consider the multi-objective optimisation problem of findin...
