Title :
A coordinated and hierarchical path planning approach for mobile manipulators
Author :
Li, Xin-Chun ; Zhao, Dong-Bin ; Yi, Jian-qiang ; Lu, Xiong-Hui
Author_Institution :
Lab. of Complex Syst. & Intelligence Sci., Chinese Acad. of Sci., Beijing, China
Abstract :
Aiming at the dynamic nonhomogeneity and kinematic redundancy, making reference to the actions of human beings, we propose a new coordinated and hierarchical path planning approach and a dynamic weighting strategy for mobile manipulators, which can avoid obstacles and exert the capability of mobile manipulators to the utmost. Simulation is done by adopting OpenGL, and obtains satisfactory results.
Keywords :
collision avoidance; manipulator dynamics; manipulator kinematics; mobile robots; OpenGL; dynamic nonhomogeneity; dynamic weighting strategy; genetic algorithms; human action; kinematic redundancy; mobile manipulators; path planning; Humans; Intelligent systems; Laboratories; Manipulator dynamics; Mobile robots; Orbital robotics; Path planning; Robot kinematics; Robotics and automation; Space exploration; Genetic algorithms; Mobile manipulator; OpenGL; Path planning;
Conference_Titel :
Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on
Conference_Location :
Guangzhou, China
Print_ISBN :
0-7803-9091-1
DOI :
10.1109/ICMLC.2005.1527459
