IHMP:an improved hierarchical motion planner for mobile manipulator in static environment

• Published in: 中国邮电高校学报（英文版） Vol. 31; no. 3; pp. 56 - 71
• Main Authors: Wang Binpeng, Huang Houqin, Xu Fangzhou, Ju Dianyuan, Li Zeqiang, Feng Chao
• Format: Journal Article
• Language: English
• Published: Jinan Engineering Laboratory of Human-Machine Intelligent Cooperation,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China%Jinan Engineering Laboratory of Human-Machine Intelligent Cooperation,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China 01.06.2024; School of Electrical Engineering and Automation,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China; International School for Optoelectronic Engineering,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China
• Subjects: motion planner; mobile manipulator; static environment; improved hierarchical motion planner(IHMP)
• ISSN: 1005-8885
• DOI: 10.19682/j.cnki.1005-8885.2023.1009

Mobile manipulators are used in a variety of fields because of their flexibility and maneuverability.The path planning capability of the mobile manipulator is one of the important indicators to evaluate the performance of the manipulator,but it is greatly challenged in the face of maps with narrow channel.To address the problem,an improved hierarchical motion planner(IHMP)is proposed,which consists of a two-dimensional(2D)path planner for the mobile base,and a three-dimensional(3D)trajectory planner for the on-board manipulator.Firstly,a hybrid sampling strategy is proposed,which can reduce invalid nodes of the generated probabilistic roadmap.Bridge test is used to locate the narrow channel areas,and a Gaussian sampler is deployed in these areas and the boundaries.Meanwhile,a random sampler is deployed in the rest areas.Trajectory planner for on-board manipulator is to generate a collision-free and safe trajectory in the narrow channel with collaboration of the 2D path planner.The experimental results show that IHMP is effective for mobile manipulator motion planning in complex static environments,especially in narrow channel.