Nonholonomic navigation and control of cooperating mobile manipulators

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dc.contributor.author Tanner, HG en
dc.contributor.author Loizou, SG en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T01:19:19Z
dc.date.available 2014-03-01T01:19:19Z
dc.date.issued 2003 en
dc.identifier.issn 1042-296X en
dc.identifier.uri http://hdl.handle.net/123456789/15422
dc.subject Cooperative mobile manipulators en
dc.subject Inverse Lyapunov functions en
dc.subject Nonholonomic motion planning en
dc.subject Potential fields en
dc.subject.classification Automation & Control Systems en
dc.subject.classification Engineering, Electrical & Electronic en
dc.subject.classification Robotics en
dc.subject.other Collision avoidance en
dc.subject.other Computer simulation en
dc.subject.other Lyapunov methods en
dc.subject.other Manipulators en
dc.subject.other Motion control en
dc.subject.other Motion planning en
dc.subject.other Navigation en
dc.subject.other Cooperating mobile manipulators en
dc.subject.other Nonholonomic control en
dc.subject.other Nonholonomic navigation en
dc.subject.other Mobile robots en
dc.title Nonholonomic navigation and control of cooperating mobile manipulators en
heal.type journalArticle en
heal.identifier.primary 10.1109/TRA.2002.807549 en
heal.identifier.secondary http://dx.doi.org/10.1109/TRA.2002.807549 en
heal.language English en
heal.publicationDate 2003 en
heal.abstract This paper presents the first motion planning methodology applicable to articulated, nonpoint nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions and a novel extension of the navigation function method to account for nonpoint articulated robots. The dipolar inverse Lyapunov functions introduced are appropriate for nonholonomic control and offer superior performance characteristics compared to existing tools. The new potential field technique uses diffeomorphic transformations and exploits the resulting point-world topology. The combined approach is applied to the problem of handling deformable material by multiple nonholonomic mobile manipulators in an obstacle environment to yield a centralized coordinating control law. Simulation results verify asymptotic convergence of the robots, obstacle avoidance, boundedness of object deformations, and singularity avoidance for the manipulators. en
heal.journalName IEEE Transactions on Robotics and Automation en
dc.identifier.doi 10.1109/TRA.2002.807549 en
dc.identifier.isi ISI:000180862100005 en
dc.identifier.volume 19 en
dc.identifier.issue 1 en
dc.identifier.spage 53 en
dc.identifier.epage 64 en

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