A coordinated and hierarchical path planning approach for mobile manipulators

Aiming at the dynamic nonhomogeneity and kinematic redundancy, making reference to the actions of human beings, we propose a new coordinated and hierarchical path planning approach and a dynamic weighting strategy for mobile manipulators, which can avoid obstacles and exert the capability of mobile manipulators to the utmost. Simulation is done by adopting OpenGL, and obtains satisfactory results.