Research on Cooperative Motion Planning of Mobile Manipulator Based on Hierarchical Switching Strategy

This study proposes a hierarchical switching-based collaborative motion planning framework to enhance long-distance path planning and human-machine collaboration in mobile manipulator-assisted inspection. A priority strategy decouples global navigation of the mobile base from local manipulator tasks, enabling efficient coordination. Key aspects include autonomous navigation, motion trajectory planning, and joint operations. The mobile base employs RRT for global path planning and DWA for dynamic obstacle avoidance and smoothing. The manipulator integrates an improved CHOMP algorithm, optimizing trajectory with obstacle distance, smoothness, and joint constraints. Simulations show the RRT-DWA method reduces path length by 4.3% and planning time by 8.5%, while manipulator trajectory smoothness improves by 21.7%, demonstrating system effectiveness and robustness.