IHMP: an improved hierarchical motion planner for mobile manipulator in static environment

doi:10.19682/j.cnki.1005-8885.2023.1009

The Journal of China Universities of Posts and Telecommunications ›› 2024, Vol. 31 ›› Issue (3): 56-71.doi: 10.19682/j.cnki.1005-8885.2023.1009

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IHMP: an improved hierarchical motion planner for mobile manipulator in static environment

Wang Binpeng, Huang Houqin, Xu Fangzhou, Ju Dianyuan, Li Zeqiang, Feng Chao

1. School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China
2. Jinan Engineering Laboratory of Human鄄Machine Intelligent Cooperation, Qilu University of Technology (Shandong Academy of Sciences),
Jinan 250353, China
3. International School for Optoelectronic Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China

Received:2022-06-27 Revised:2023-03-06 Online:2024-06-30 Published:2024-06-30
Contact: Chao FENG E-mail:cfeng@qlu.edu.cn
Supported by:
the Program for Youth Innovative Research Team in the University of Shandong Province in China;the Introduce Innovative Teams of 2021 "New High School 20 Items" Project;the Graduate Education and Teaching Reform Research Project of Qilu University of Technology in 2019

Abstract

Abstract: Mobile manipulators are used in a variety of fields because of their flexibility and maneuverability. The path
planning capability of the mobile manipulator is one of the important indicators to evaluate the performance of the
manipulator, but it is greatly challenged in the face of maps with narrow channel. To address the problem, an
improved hierarchical motion planner (IHMP) is proposed, which consists of a two-dimensional (2D) path planner
for the mobile base, and a three-dimensional (3D) trajectory planner for the on-board manipulator. Firstly, a
hybrid sampling strategy is proposed, which can reduce invalid nodes of the generated probabilistic roadmap.
Bridge test is used to locate the narrow channel areas, and a Gaussian sampler is deployed in these areas and the
boundaries. Meanwhile, a random sampler is deployed in the rest areas. Trajectory planner for on-board
manipulator is to generate a collision-free and safe trajectory in the narrow channel with collaboration of the 2D path
planner. The experimental results show that IHMP is effective for mobile manipulator motion planning in complex
static environments, especially in narrow channel.

Key words: static environment, mobile manipulator, motion planner, improved hierarchical motion planner (IHMP)

CLC Number:

TP241.3

Wang Binpeng, Huang Houqin, Xu Fangzhou, Ju Dianyuan, Li Zeqiang, Feng Chao. IHMP: an improved hierarchical motion planner for mobile manipulator in static environment[J]. The Journal of China Universities of Posts and Telecommunications, 2024, 31(3): 56-71.

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IHMP: an improved hierarchical motion planner for mobile manipulator in static environment

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