Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
arXiv:2608.00206v1 Announce Type: new Abstract: Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding explicit arm kinematic modeling in the planner. Simulations and a hardware experiment demonstrate that the approach successfully plans feasible trajectories for door traversal.
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[Submitted on 31 Jul 2026]
Title:Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
View a PDF of the paper titled Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control, by Kasra Sinaei and 4 other authors
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Abstract:Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding explicit arm kinematic modeling in the planner. Simulations and a hardware experiment demonstrate that the approach successfully plans feasible trajectories for door traversal.
Subjects:
Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2608.00206 [cs.RO]
(or arXiv:2608.00206v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.00206
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Kasra Sinaei [view email] [v1] Fri, 31 Jul 2026 18:39:29 UTC (12,705 KB)
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