[ompl-users] Integrating geometric rrt with another planner

[Hemang C. <hem...@gm...>]

Hi,

I am trying to plan for a non-holonomic wheeled mobile manipulator.

For planning the path of the base, the control based planners ma be used.
However they cannot be extended directly to mobile manipulators due to
higher dimensionality.

On the contrary, the planning with reed shepps planner uses geometric
planning. I wish to plan for the base and the arm simultaneously. Is there
a way to plan for a robot with base in SE(2) planned with the rest of the
joints in R^6 ? Perhaps a new state space will have to be created for the
same?

I recognize the drawback here is the large amount of time it may take as
the planning with reed shepps is not optimized. However I wish to plan only
in a small area of a couple meters^2.
-- 
Regards,
Hemang Chawla