Sensor-based Global Planning for Mobile Manipulators Navigation Using Voronoi Diagram and Fast Marching
Santiago Garrido, Dolores Blanco, M. Luisa Munoz, Luis E. Moreno, Mohamed Abderrahim · 2007
Mobile Manipulators are special cases of mobile robots that need a careful consideration when planning their motion. Due to their higher and changing centre of gravity caused by the position of the manipulator and its configuration, abrupt motion or change of direction can have dangerous consequences and the toppling of the whole mobile manipulator.