%0 Journal Article %A Shonal Singh and Bibhya Sharma and Jito Vanualailai %D 2011 %J International Journal of Mathematical and Computational Sciences %B World Academy of Science, Engineering and Technology %I Open Science Index 60, 2011 %T Autonomous Control of a Mobile Manipulator %U https://publications.waset.org/pdf/15482 %V 60 %X 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. %P 1813 - 1822