Static path planning of tracked mobile manipulator and simulation

摘要

Path planning of the robot is searching the best motion path with some appropriate algorithm under some certain constraint condition. Path planning is the foundation of motion control of the robots. Based on the kinematic modeling and optimized configuration of tracked mobile manipulator with 5+1 degrees of freedom, translate path planning problem into optimization problem. Set certain initial conditions and target end position, plan the path using genetic algorithm, and then simulate and analyze with Matlab. The innovation of this paper is that usage of the optimization criterion in allusion to the manipulator we research, solve the problem of path planning of manipulator with genetic algorithms.