# Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control

arXiv: https://arxiv.org/abs/1701.08051 · HTML: https://mlsanity.com/paper/1701.08051/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Jan 2017.

## Built on by (most cited first, 1 of 1)

- [Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation](https://mlsanity.com/paper/2103.10534/) (2021)

## Abstract (arXiv)

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear Quadratic Optimal Control problem. The employed algorithm features high efficiency through a continuous-time formulation that benefits from adaptive step-size integrators and through linear complexity in the number of integration steps. In a first application example, we solve kinematic trajectory planning problems for a 26 DoF wheeled robot. In a second example, we apply Constrained SLQ to a real-world mobile manipulator in a receding-horizon optimal control fashion, where we obtain optimal controllers and plans at rates up to 100 Hz.