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Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization (ICRA 2024)

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MOVE-Planner

Real-time Whole-body Motion Planning for Mobile ManipulatOrs Using EnVironment-adaptivE Search and Spatial-temporal Optimization

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  • Jan 29, 2024: MOVE-Planner is accepted to ICRA 2024.

Introduction

MOVE-Planner presents a motion planning method capable of generating high-quality, safe, agile and feasible trajectories for mobile manipulators in real time.

Authors: Chengkai Wu*, Ruilin Wang*, Mianzhi Song, Fei Gao, Jie Mei and Boyu Zhou.

Institutions: SYSU STAR Group, HITSZ MAS Lab and ZJU FAST Lab.

Video: Bilibili, YouTube.

Code (Comming Soon~)

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Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization (ICRA 2024)

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