非完整移动机械臂的避障运动规划

针对有空间障碍物避免的移动式操作机器人系统运动规划问题,提出了一种基于特殊的人工势函数,使用局部距离信息实现非完整移动机械臂系统实时避障运动规划方法,并且用Lyapunov定理证明了闲环系统的稳定性。用提出的方法对非完整移动机械臂系统进行仿真．仿真结果表明了它的正确有效性。

Motion planning and obstacle avoidance of nonholonomic mobile manipulators

This paper investigates the motion planning of mobile manipulators with the avoidance of spatial obstacle. A new approach based on artificial potential function is proposed for the obstacle avoidance of mobile manipulators, This new approach searches the path in real-time using the local distance information, and stability of the closed-loop system is guaranteed by Lyapunov theory. The proposed approach has been used for the motion planning and obstacle avoidance of a wheeled mobile manipulators in simulation. The simulation results demonstrate the effectiveness of proposed approach.