There is provided a method of controlling a mobile manipulator for tracking a surface. The mobile manipulator includes a mobile base movable in an axial direction of the mobile manipulator and a manipulator supported on the mobile base having an end effector adjustable in a lateral direction of the mobile manipulator. The method includes detecting the surface from the mobile manipulator, including positions of the surface at points along the surface, determining a reference path for the end effector to track based on an offset from the surface detected, determining a tracking error in the reference path determined, and adjusting a position of the end effector in the lateral direction based on the tracking error to compensate for the tracking error in the reference path determined. There is also provided a corresponding mobile manipulator.
展开▼
