A Hierarchical Motion Planning Method for Mobile Manipulator

A Hierarchical Motion Planning Method for Mobile Manipulator

This paper focuses on motion planning for mobile manipulators, which includes planning for both the mobile base and the manipulator. A hierarchical motion planner is proposed that allows the manipulator to change its configuration autonomously in real time as needed. The planner has two levels: glob...

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Bibliographic Details
Main Authors: Hanlin Chen, Xizhe Zang, Yubin Liu, Xuehe Zhang, Jie Zhao
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Sensors
Subjects:
mobile manipulator
motion planning
hierarchical planner
Online Access:https://www.mdpi.com/1424-8220/23/15/6952

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