Nonholonomic Motion Planning for Mobile Manipulators

Tanner, H; Kyriakopoulos, K

dc.contributor.author	Tanner, H	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:48:59Z
dc.date.available	2014-03-01T02:48:59Z
dc.date.issued	2000	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34186
dc.subject	Mobile Manipulator	en
dc.subject	nonholonomic motion planning	en
dc.subject	nonholonomic system	en
dc.title	Nonholonomic Motion Planning for Mobile Manipulators	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2000.844767	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2000.844767	en
heal.publicationDate	2000	en
heal.abstract	A nonholonomic motion planner for mobilemanipulators moving in cluttered environments ispresented. The approach is based on a discontinousfeedback law under the infuence of a special potentialfield. Convergence is shown via Lyapunov's directmethod. Utilizing redundancy, the methodologyallows the system to perform secondary, configurationdependent, objectives such as singularity avoidance. Itintroduces an efficient feedback scheme for real timenavigation of nonholonomic systems.I.	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2000.844767	en