Industrial Mobile Manipulator Motion Planning Based on Double Work Space Using Improved Genetic Algorithm

To shorten planning time and reduce energy consumption of mobile manipulator, a high-efficiency motion planning strategy is developed. Firstly, a novel concept called double work space (DWS) is established. Then, reachability matrix is used to screen sampling points in DWS which are applied successively to reach the optimum of genetic algorithm using in motion planning. Then, to investigate the appropriate control parameters, simulations are operated. Finally, on the basis of the simulation survey, experiments validate the improved the mobile manipulator's performance of tracking control, which is adapted to operate targets in a large space. The comparative experiments of this proposed method and 3 different non-coordinate planning methods show that the proposed method is more efficient.