WASET
	%0 Journal Article
	%A Shonal Singh and  Bibhya Sharma and  Jito Vanualailai and  Avinesh Prasad
	%D 2012
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 72, 2012
	%T Autonomous Control of Multiple Mobile Manipulators
	%U https://publications.waset.org/pdf/3378
	%V 72
	%X 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.
	%P 1689 - 1698