【摘要】 移动机械手末端任务给定情况下的路径规划在喷绘、焊接等工作中有广泛的应用,但这方面的研究还比较少,尤其是在动态环境中.针对该情况提出一种动态规划方法,该方法包含预处理和动态规划两个阶段,使移动机械手在完成任务的前提下,能够有效地回避静态和动态障碍物.仿真结果证明了该方法的正确性.更多还原

【Abstract】 A novel approach of dynamic path planning for a mobile manipulator whose end-effector travels along a given path is presented.Such a task-consistency motion planning is widely used in practical applications such as painting and welding.But this problem in dynamic environments is rarely considered.A general method which consists of a preprocessing and a dynamic planning stage is proposed.The mobile manipulator can avoid not only static obstacles but also dynamic obstacles.The effectiveness of the proposed approach is illustrated through simulation experiments.更多还原