Real-time Planning of Mobile Manipulation in Dynamic Environments of Unknown Changes
نویسندگان
چکیده
This paper presents an approach to plan in realtime trajectories of a mobile manipulator in an environment of dynamic obstacles of unknown motions. It exploits loosecoupling of locomotion and manipulation, taking advantage of the redundancy, to best achieve avoidance of dynamic obstacles and various optimization objectives such as minimizing energy and time, and maximizing manipulability. The approach has been implemented and tested in simulation, and the results demonstrate its effectiveness.
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