Motion Planning for Mobile Manipulators—A Systematic Review

Machines

Thushara Sandakalum¹  Marcelo H. Ang¹ 

[1] Department of Mechanical Engineering, National University of Singapore, Singapore 119077, Singapore;

关键词: mobile manipulator;    path planning;    motion planning;    review;   

DOI  :  10.3390/machines10020097

来源: DOAJ

【 摘 要 】

One of the fundamental fields of research is motion planning. Mobile manipulators present a unique set of challenges for the planning algorithms, as they are usually kinematically redundant and dynamically complex owing to the different dynamic behavior of the mobile base and the manipulator. The purpose of this article is to systematically review the different planning algorithms specifically used for mobile manipulator motion planning. Depending on how the two subsystems are treated during planning, sampling-based, optimization-based, search-based, and other planning algorithms are grouped into two broad categories. Then, planning algorithms are dissected and discussed based on common components. The problem of dealing with the kinematic redundancy in calculating the goal configuration is also analyzed. While planning separately for the mobile base and the manipulator provides convenience, the results are sub-optimal. Coordinating between the mobile base and manipulator while utilizing their unique capabilities provides better solution paths. Based on the analysis, challenges faced by the current planning algorithms and future research directions are presented.

【 授权许可】

Unknown