Non-holonomic mobile manipulator kinematic control using hybrid simulated annealing

This paper proposes a global optimization based kinematic control of a 6 DOF non-holonomic mobile manipulator having a 3 DOF PUMA like arm, by optimizing smoothness and the Velocity Transformation Ratio (VTR) over the entire trajectory to achieve a control which executes a given end-effector task. The proposed approach involves formulating the functionals of the chosen objectives over the path and optimizing the same using Hybrid Simulated Annealing (HSA) algorithm for faster convergence to global minimum. The method generates smooth trajectories for the mobile manipulator without violating the non-holonomic constraint of the robot, which are optimized globally. Simulations of test cases are provided to establish the efficacy of the method in generating globally optimized trajectories.