Nonholonomic navigation and control of cooperating mobile manipulators

Tanner, HG; Loizou, SG; Kyriakopoulos, KJ

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	https://dspace.lib.ntua.gr/xmlui/handle/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.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	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