We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the static, obstacle-free regions in the environment and generates a set of convex, static, obstacle-free regions around the path using a novel, fast, and computationally lightweight ellipse-based technique. We introduce a nonlinear Model Predictive Control (NMPC) based real-time implementable planning technique that jointly plans feasible motion for the mobile base and the manipulator's arm and generates a kinodynamic feasible, collision-free trajectory for cooperative object transportation. Simulation and hardware experiments validate the efficiency of our proposed planning framework.

翻译：针对动态环境中非完整移动操作臂机器人（MMRs）协同搬运物体的问题，本文提出一种可实时实现的运动规划框架。全局规划器通过环境中静态无障碍区域规划起始点到目标点的路径，并利用一种新型、快速且计算轻量的椭圆技术，沿该路径生成一组凸形静态无障碍区域。我们引入基于非线性模型预测控制（NMPC）的实时规划方法，协同规划移动基座与机械臂的可行运动，生成满足动力学约束且无碰撞的协同搬运轨迹。仿真与硬件实验验证了所提规划框架的有效性。