An Integration Enhanced Repetitive Path Planning Scheme for Omnidirectional Mobile Robot Manipulators
Qin Ding, Naimeng Cang, Yilin Yu, Qu Li, Dongsheng Guo · 2023
The repetitive path planning (RPP) is an important issue in the research of mobile robot manipulators. By utilizing the integration enhanced method, this paper proposes a new RPP scheme for omnidirectional robot manipulators. Differing from the existing RPP schemes, such an integration-enhanced RPP (IERPP) scheme can realize the RPP of omni-directional mobile robot manipulators even in the presence of noise. Comparative simulation results under a specific omnidi-rectional mobile robot manipulator perturbed by constant and time-varying noises are presented to validate the effectiveness of the proposed IERPP scheme.