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《Manufacturing Automation》 2005-05
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A coordinated and hierarchical path planning approach for mobile manipulator

LI Xin-chun, ZHAO Dong-bin, YI Jian-qiang, SONG Zuo-shi (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China )  
Aiming at the dynamic nonhomogeneity and kinematic redundancy, making reference to the actions of human beings, we propose a new hierarchical approach of coordinated path planning for mobile manipulateors, and a dynamic weighting strategy, which can avoid obstacles and get the best results of optimization. At last we make simulation by OpenGL in VC++ and get satisfactory results.
【Fund】： 国家自然科学基金(60475030);; 科技部国际合作重点项目(2004DFB02100)
【CateGory Index】： TP241
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【Citations】
Chinese Journal Full-text Database 2 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083);Point-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-01
2 ZHAO Dong bin, YI Jian qiang, DENG Xu yue (Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);STRUCTURE AND KINEMATIC ANALYSIS OF OMNI-DIRECTIONAL MOBILE ROBOTS[J];Robot;2003-05
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Multi-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-02
2 ZHANG Li-xun,BU Chi-wu1,2(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.College of Light Industry,Harbin University of Commerce,Harbin 150028,China);Robust compensation control of mobile manipulator service robot[J];Electric Machines and Control;2009-01
3 LIU Bingkui, ZHAO Chen, NIE Xiaolu (School of Mechanical Engineering, Tianjin University, Tianjin 300072, China);Kinematic Analysis of Robocup F-180 Omni-directional Small Soccer Robot[J];Machine Tool & Hydraulics;2007-02
4 LI Na,ZHAO Xin-Hua (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China);Motion Planning of Mobile Manipulator Based on Genetic Algorithms[J];Development & Innovation of Machinery & Electrical Products;2007-01
5 ;Kinematic Analysis of Omni-directional F180 Soccer Robot[J];Mechatronics;2006-04
6 SONG Zuo-shi, YI Jian-qiang, ZHAO Dong-bin (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);SURVEY OF THE CONTROL FOR MOBILE MANIPULATORS[J];Robot;2003-05
7 FU Yi-li,LI Han,XU He,MA Yu-lin(Institute of Robotics,Harbin Institute of Technology,Harbin 150001,China);Research on several kinds of steering mode of OWMR[J];Manufacturing Automation;2005-10
8 Nie Xiaolu,Zhao Chen(School of Mechanical Engineering,Tianjin University,Tianjin 300072);Kinematic Analysis of Omni-directional Small Soccer Robot[J];Mechanical Science and Technology for Aerospace Engineering;2007-11
9 Yang Shiqiang,Fu Weiping,Zhang Pengfei(Faculty of Mechanical and Precision Instrument Engineering,Xi′an University of Technology,Xi′an 710048);A Study of the Kinematics Model of a Mobile Robot with Four Omni-directional Wheels[J];Mechanical Science and Technology for Aerospace Engineering;2009-03
10 XIONG Rong ~(1),ZHANG He ~(1),CHU Jian ~(1),HE Zhen-feng ~(2),WU Yong-hai ~(3)(1.National Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou Zhejiang 310027,China;2.College of Computer Science,Zhejiang University,Hangzhou Zhejiang 310027,China;3.College of Mechanical and Energy Engineering,Zhejiang University,Hangzhou Zhejiang 310027,China);Modeling and optimal control of omni-directional mobile robots[J];Control Theory & Applications;2006-01
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083);Point-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-01
2 ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Multi-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-02
3 Wang Shuo, Tan Min (Institute of Automation, Chinese Academy of Sciences, Beijing 100080);Multiple Autonomous Mobile Robots Avoidance Based on Negotiation and Intention Strength[J];High Technology Letters;2001-10
4 GAO Zhi jun, YAN Guo zheng, DING Guo qing, YAN De tian, CHEN Zhong ze (No.820 Lab,College of Electronics and Information, Shanghai Jiaotong University,Shanghai 200030, China)[WT5HZ];Current status and development of multi robot coordinative and cooperative systems[J];Optics and Precision Engineering;2001-02
5 WANG Xingce,ZHANG Rubo,GU Guochang (School of Computer Science and Technology , Harbin Engineering University , Harbin 150001,China);Potential grid based global path planning for robots[J];Journal of Harbin Engineering University;2003-02
6 ZHANG Jian-ying,ZHAO Zhi-ping,LIU Dun(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China);A path planning method for mobile robot based on artificial potential field[J];Journal of Harbin Institute of Technology;2006-08
7 Huang Xianlong Liang Bin Wu Hangxin Beijing Institute of Control Engineering, Beijing 100080;A Survey on Robotics Collision Avoidance Planning[J];Aerospace Control;2002-01
8 Wang Huili,Fu Weiping,Fang Zongde, Zhang Hongyuan (1 Department of Machine Manufacturing and Automation, Xian University of Science and Technology, Xian 710048; 2 Automobile Enginering Centre, Northwest University of Technology, Xian 710072);A Path Plann Method for Mobile Robot Based on Improved Potential Field Function[J];Machine Tool & Hydraulics;2002-06
9 LI Na,ZHAO Xin-Hua (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China);Motion Planning of Mobile Manipulator Based on Genetic Algorithms[J];Development & Innovation of Machinery & Electrical Products;2007-01
10 XIE Hongbin,LIU Guodong,LI Chunguang(College of communication and control engineering,Southern Yangze university,Wuxi 214036, China) ;The Study of Robot's Path Planning in Dynamic Environment Based on Fuzzy Neural Network[J];Journal of Southern Yangtze University;2003-01
【Secondary Citations】
Chinese Journal Full-text Database 3 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
2 ZHANG Shuo-sheng\ YU Da-tai (Robotics Research Institute, University of Science and Technology, Beijing\ 100083);TRANSFERRING BETWEEN TWO CONFIGURATIONS FOR CARLIKE MOBILE PLOTFORM EFFECTS ON MANIPULATOR[J];Robot;2001-01
3 TIAN Yu WU Zhen wei LIU Chang chun (Open Lab on Robotics, Chinese Academy of Sciences, Shenyang, 110015);OPEN EXPERIMENTAL PLATFORM OF THREE DOF OMNI DIRECTIONAL MOBILE ROBOT[J];Robot;2002-02
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