Automatic switching control method for decentralization and centralization of mobile manipulators

The invention relates to an automatic switching control method for decentralization and centralization of mobile manipulators. The method includes: firstly, establishing a world coordinate system and a vehicle-mounted coordinate system for the mobile manipulators, and acquiring current poses of the mobile manipulators; secondly, aiming at different control strategies, establishing kinematic and dynamical models for a system; and thirdly designing an automatic decentralization and centralization control switcher, and finally completing established tasks by means of coordination control of the mobile manipulators and a movable platform. Aiming at different control tasks, a reasonable control scheme is selected as either decentralization or centralization, the tasks are guaranteed to be completed smoothly under coordination control between the movable platform and the manipulators, and further control performance of the mobile manipulators is improved under the influences of uncertain factors such as unknown external disturbance, environment time varying and obstacle avoidance. The method can be widely used for application fields of industrial production, medical assistance and the like, and researches on different objects of underwater robots, flying robots and the like can be extended.