The study on dynamic scheduling of mobile manipulator based on MAS and neural network

A distributed intelligent decision and management system is erected which incorporates the technologies of decision support system, expert system and database based on the theory of multi-agent. The system is able to support more rational, more effective and more scientific decision-making and schedule strategy, and it also can do attribute to the automation and intelligence of mobile manipulator. Also, in this paper, we use neural network as the intelligent controller of the hierarchical intelligent system, because it is near to the method of person dealing with information and has the ability of imitating person´s image thinking. This paper utilizes the excellent characteristics of neural network in studying and fault-tolerant to solve the coupling between manipulator and mobile vehicle and compensating the torque in order to realize the coordination movements between manipulator and mobile vehicle of mobile manipulator.