Dynamic Path Planning Algorithm for Dual-Robot Systems Based on Minimum Manipulability Constraints

In response to the safety and reliability concerns in dynamic path planning for dual-robot systems, this paper proposes a spatiotemporal A* path planning algorithm based on minimum manipulability constraints. Firstly, the algorithm extends the child nodes of the spatiotemporal A* algorithm using spatial velocity vectors, altering the search space, and increasing the turning cost to achieve smoother path planning. Then, this paper proposes incorporating minimum manipulability constraints into the evaluation function of the spatiotemporal A* algorithm to enhance the flexibility of robots and the safety and reliability of paths. Additionally, it increases the weight coefficient of the heuristic function to improve the efficiency of the algorithm. Simulation results demonstrate that the proposed algorithm can plan smooth, safe, and reliable paths.