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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.
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