On the modeling and the optimal motion planning of manipulators via a modified D~* Lite search algorithm

摘要

The motion planning of the manipulators is a topic in robotics that has been studied extensively and there are many solutions available in the literature. However, the motion planning of manipulators considering the system dynamics with respect to their energy consumption level is still a challenging problem which requires a combination of interdisciplinary studies to yield an optimal solution. In this paper, a framework is developed to model the user-defined manipulator, design a motion planner implementing a proposed search algorithm, and simulate the robot motion in different environments. The superiority of the search algorithm is investigated and the development of the MATLAB framework is discussed thoroughly accompanying the simulation results.