Path planning of mobile manipulator with genetic-fuzzy controller in flexible manufacturing cell

This paper presents a new intelligent path planning method for motions of the mobile manipulator in FMC. It simulates the way of human actions to control the mobile manipulator according to a master-slave hierarchical control strategy. The method can find path using the genetic fuzzy controller (GFC) while in moving, and switch to the collision-free path planner based on the CCJA and DA^* algorithms when in requirement of performing the tasks …