Robot base path planning

A system for performing interactions within a physical environment, the system including:

• a) a robot base being mounted on a boom;
• b) a robot base actuator that moves the robot base relative to the environment;
• c) a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon;
• d) a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment;
• and
• e) a control system that:
• i) acquires an indication of a plurality of end effector destinations, wherein each of the end effector destinations are a static point relative to the environment;
• ii) calculates an end effector path extending along the plurality of end effector destinations;
• iii) determines the robot base position at least in part using signals from the tracking system;
• iv) calculates a plurality of robot base destinations, wherein each of the plurality of robot base destinations is offset from a corresponding one of the end effector destinations;
• v) calculates a robot base path offset from the end effector path and extending from the robot base position along the plurality of robot base destinations, the robot base path being configured to allow continuous movement of the robot base along the robot base path past multiple end effector destinations in accordance with a defined robot base path velocity profile;
• vi) generates robot base control signals based on the robot base path;
• and
• vii) applies the robot base control signals to the robot base actuator to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.