An Integration Enhanced Repetitive Path Planning Scheme for Omnidirectional Mobile Robot Manipulators

摘要

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.