移动机械臂运动规划方法研究综述

Review of Motion Planning Methods for Mobile Manipulators

摘要:

随着机器人技术发展,移动机械臂广泛应用在智能制造、家庭服务、农业采摘和疫情防护等领域。开展移动机械臂运动规划方法研究有利于扩展其应用场景、提升其工作能力,具有重要的学术研究意义和社会实际应用价值。首先介绍了移动机械臂的相关理论,并阐述其运动学建模方法。在此基础上,对现阶段移动机械臂的运动规划方法研究成果分类综述。根据底层数据结构与算法思想的不同,分为基于采样、基于搜索、基于优化和基于学习的规划方法进行综述；根据是否进行整体规划,分为解耦规划和协调规划进行综述。最后,对移动机械臂运动规划未来发展趋势和研究方向作出探讨和展望。

Abstract:

With the development of robotic, mobile manipulators are widely used in the fields of intelligent manufacturing, family service, agricultural picking, and epidemic protection and so on. The research on the motion planning method of mobile manipulator is conducive to the expansion of its application scene and the enhancement of its working ability, which has important academic research significance and social practical application value. Firstly, the relevant theories of mobile manipulators are introduced, and its kinematic modeling method is elaborated. On this basis, the research results of motion planning methods of mobile manipulators at the present stage are categorized and reviewed. According to the different underlying data structures and algorithmic ideas, it is classified into sampling-based, search-based, optimization-based, and learning-based planning methods for review; according to whether the overall planning is carried out or not, it is classified into decoupled planning and coordinated planning for review. Finally, the future development trend and research direction of mobile manipulator motion planning are discussed and outlooked.