Uncertainty Aware Mobile Manipulator Platform Pose Planning Based on Capability Map

Mobile manipulators are increasingly applied to various scenarios. However, the mobile platform pose error caused by its positioning uncertainty has a great impact on the mobile manipulation task quality. A mobile platform pose where a mobile manipulator can achieve higher manipulability will increase the success rate of the mobile manipulation task especially in daily life applications. This paper presents an uncertainty aware pose planning method for mobile manipulator. First, a capability map is constructed to represent the manipulability distribution of the mobile manipulator and the manipulability expectation is used as the criteria in capability map querying to get the mobile platform pose with the highest expectation. Second, to speed up the expectation computing process, we introduce a filter, in which the mobile platform feasible poses are filtered according to the uncertainty distribution before expectation computing. Finally, experiments are carried out to show the applicability of the presented method.