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simmediummobile-manipulationmetric · varies
Two-Stage Path Following for Mobile Manipulators via Dimensionality-Reduced Graph Search and Numerical Optimization
Description
Efficient path following for mobile manipulators is often hindered by high-dimensional configuration spaces and kinematic constraints. This paper presents a robust two-stage configuration planning framework that decouples the 8-DoF planning problem into a tractable 2-DoF base optimization under a yaw-fixed base planning assumption. In the first stage, the proposed approach utilizes IRM to discretize the task-space path into a multi-layer graph, where an initial feasible path is extracted via a D