This paper considers the design of a motion planner
that will simultaneously accomplish control and motion planning of a
n-link nonholonomic mobile manipulator, wherein, a n-link
holonomic manipulator is coupled with a nonholonomic mobile
platform, within an obstacle-ridden environment. This planner,
derived from the Lyapunov-based control scheme, generates
collision-free trajectories from an initial configuration to a final
configuration in a constrained environment cluttered with stationary
solid objects of different shapes and sizes. We demonstrate the
efficiency of the control scheme and the resulting acceleration
controllers of the mobile manipulator with results through computer
simulations of an interesting scenario.
[1] J. J. Craig, "Introduction to Robotics: Mechanics and Control," in The
Mechanics and Control of Mechanical Manipulators, 2nd ed., Wesley
Publishing Company, Inc., 1989, pp. 111-114.
[2] B. Sharma, "New Directions in the Applications of the Lyapunov-based
Control Scheme to the Findpath Problem," PhD dissertation, The
University of the South Pacific, 2008.
[3] H. Seraji, "A Unified Approach to Motion Control of Mobile
Manipulators,"International Journal of Robotics Research, vol. 2, pp.
107-118, 1998.
[4] B. Sharma, J. Vanualailai and U. Chand, "Flocking of Multi-agents in
Constrained Environments," European Journal of Pure and Applied
Mathematics, vol. 3, pp. 401-425, 2009.
[5] P. C-Y and Q. Xue, "Intelligent Robotic Planning Systems," World
Scientific, Singapore, 1993.
[6] R. W. Brockett,Differential Geometry Control Theory. New York:
Springer-Verlag, 2003, ch. Asymptotic Stability and Feedback
Stabilisation.
[1] J. J. Craig, "Introduction to Robotics: Mechanics and Control," in The
Mechanics and Control of Mechanical Manipulators, 2nd ed., Wesley
Publishing Company, Inc., 1989, pp. 111-114.
[2] B. Sharma, "New Directions in the Applications of the Lyapunov-based
Control Scheme to the Findpath Problem," PhD dissertation, The
University of the South Pacific, 2008.
[3] H. Seraji, "A Unified Approach to Motion Control of Mobile
Manipulators,"International Journal of Robotics Research, vol. 2, pp.
107-118, 1998.
[4] B. Sharma, J. Vanualailai and U. Chand, "Flocking of Multi-agents in
Constrained Environments," European Journal of Pure and Applied
Mathematics, vol. 3, pp. 401-425, 2009.
[5] P. C-Y and Q. Xue, "Intelligent Robotic Planning Systems," World
Scientific, Singapore, 1993.
[6] R. W. Brockett,Differential Geometry Control Theory. New York:
Springer-Verlag, 2003, ch. Asymptotic Stability and Feedback
Stabilisation.
@article{"International Journal of Engineering, Mathematical and Physical Sciences:64476", author = "Shonal Singh and Bibhya Sharma and Jito Vanualailai", title = "Autonomous Control of a Mobile Manipulator", abstract = "This paper considers the design of a motion planner
that will simultaneously accomplish control and motion planning of a
n-link nonholonomic mobile manipulator, wherein, a n-link
holonomic manipulator is coupled with a nonholonomic mobile
platform, within an obstacle-ridden environment. This planner,
derived from the Lyapunov-based control scheme, generates
collision-free trajectories from an initial configuration to a final
configuration in a constrained environment cluttered with stationary
solid objects of different shapes and sizes. We demonstrate the
efficiency of the control scheme and the resulting acceleration
controllers of the mobile manipulator with results through computer
simulations of an interesting scenario.", keywords = "Artificial potential fields, Lyapunov-based control
scheme, Lyapunov stability, nonholonomic manipulator, minimum
distance technique, kinodynamic constraints.", volume = "5", number = "12", pages = "2139-10", }