Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2

kinodynamic constraints Related Publications

2 Autonomous Control of Multiple Mobile Manipulators

Authors: Bibhya Sharma, Jito Vanualailai, Avinesh Prasad, Shonal Singh

Abstract:

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.

Keywords: lyapunov stability, artificial potential fields, kinodynamic constraints, Lyapunov-based control scheme, minimum distance technique, nonholonomic manipulator

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1 Autonomous Control of a Mobile Manipulator

Authors: Bibhya Sharma, Jito Vanualailai, Shonal Singh

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: lyapunov stability, artificial potential fields, kinodynamic constraints, minimum distance technique, nonholonomic manipulator, Lyapunov-based control scheme

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