Autonomous Control of Multiple Mobile Manipulators

This paper considers the autonomous navigation problem of multiple n-link nonholonomic mobile manipulators within an obstacle-ridden environment. We present a set of nonlinear acceleration controllers, derived from the Lyapunov-based control scheme, which generates collision-free trajectories of the mobile manipulators from initial configurations to final configurations 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 manipulators with results through computer simulations of an interesting scenario.

Authors:

• Shonal Singh
• Bibhya Sharma
• Jito Vanualailai
• Avinesh Prasad

Keywords:

• Artificial potential fields
• kinodynamic constraints
• Lyapunov-based control scheme
• Lyapunov stability
• minimum distance technique
• nonholonomic manipulator.

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