Planning point to point paths for nonholonomic mobile manipulators

Deals with path planning for mobile nonholonomic manipulators. The system is composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. We propose strategies for planning paths between two points in the generalized and operational spaces. Redundancy and optimization criteria are key elements of the approach. Applications follow for a planar system in the case of point to point tasks.