Dynamic Planning for Sequential Whole-body Mobile Manipulation

Understand

The dynamic Sequential Mobile Manipulation Planning (SMMP) framework is essential for the safe and robust operation of mobile manipulators in dynamic environments.

• Previous research has primarily focused on either motion-level or task-level dynamic planning, with limitations in handling state changes that have long-term effects or in generating responsive motions for diverse tasks, respectively.
• This paper presents a holistic dynamic planning framework that extends the Virtual Kinematic Chain (VKC)-based SMMP method, automating dynamic long-term task planning and reactive whole-body motion generation for SMMP problems.
• The framework consists of an online task planning module designed to respond to environment changes with long-term effects, a VKC-based whole-body motion planning module for manipulating both rigid and articulated objects, alongside a reactive Model Predictive Control (MPC) module for obstacle avoidance during execution.