The Path Planning Of Mobile Manipulator Based On Master-Slave Cooperative Coevolutionary Algorithm

Mobile manipulator is combined by mobile platform and manipulator that is placed on it, which integrates the advantage of mobile platform and manipulator, but at the same time changes the dynamics of the system. The strong coupling between mobile platform and manipulator increases the complexity of the system. Path planning of mobile manipulator is a frontier and crucial field in the research of robots. This thesis is based on the real mobile manipulator in the cooperated robots laboratory, in which mobile platform and manipulator are regarded as two related intelligent agents. A new cooperative path planning method aimed at mobile manipulator in three-dimensional space is proposed, combined with improved master-slave cooperative coevolutionary algorithm. Experiments are carried in the laboratory, which has verified the effectiveness of the new method.The achievements in the thesis are as followed:1. Plenty of methods of path planning has been summarized based on mobile platform, manipulator and mobile manipulator, and the application scope and the advantages and disadvantages of all the methods are pointed out. What's more, the research status of cooperative coevolutionary algorithm is also introduced.2. Taking into account the strong coupling of mobile platform and manipulator, and on the basis of traditional path planning algorithm and cooperative coevolutionary algorithm, we present an improved master-slave cooperative coevolutionary algorithm to coordinate mobile platform and manipulator. In the algorithm, mobile platform and manipulator are assigned different roles-the master and slave, and the role alternation is determined by the composite index. So the result is that they lead the path planning process in turn, and finally lead to the optimal solution. The simulation shows that the method can effectively avoid the collision in the space, and finally get a relatively good result.3. According to the software and hardware condition of mobile manipulator in the laboratory, we improve the architecture of the existed system combined with the new algorithm. A C/S architecture is developed for communication, and the completion of software and hardware lay the foundation of actual operation of the algorithm.4. With the control of mobile manipulator based on the existing hardware and software, the master-slave cooperative coevolutionary algorithm is used on the mobile manipulator in the lab to testify the performance of the algorithm, and the improvement direction is also pointed out.