Smooth Jerk-Bounded Optimal Path Planning of Tricycle Wheeled Mobile Manipulators in the Presence of Environmental Obstacles
In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an superman headband obstructed environment.Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in th