%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