Toward coordinated planning and hierarchical optimization control for highly redundant mobile manipulator

• DOI: 10.1016/j.isatra.2024.01.007
• Publication Date: 2024-01-09T10:44:22Z
• Authors: Erdi Sayar; Xiang Gao; Yingbai Hu; Guang Chen; Alois Knoll
• Keywords: Nonholonomic system; Mobile manipulator

This paper represents a constraint planning and optimization control scheme for highly redundant mobile manipulator considering complex indoor environment. Compared with the traditional solution of manipulator, infinity norm slack variable are additionally introduced leveraged by algorithm. The former takes into account joint limits effectively individual velocities latter relaxes equality decreasing infeasible area. By using derived kinematic equations, tracking problem is expressed as an converted new quadratic programming (QP) problem. To address problem, two-timescale recurrent neural networks proposed tested 9 DOFs nonholonomic mobile-based manipulator. Additionally, BI2RRT∗ path-planning algorithm incorporates path in environment where different obstacles positioned. test evaluate scheme, both predefined generated paths Neurorobotics Platform (NRP) 2which open access source integrative simulation framework powered Gazebo developed our team.