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Title: Nonholonomic navigation and control of cooperating mobile manipulators
Authors: Tanner, Herbert G.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Computer simulation;Mobile robots;Lyapunov functions
Issue Date: 2003
Publisher: IEEE
Source: IEEE Transactions on Robotics and Automation, 2003, Volume 19, Issue 1, Pages 53-64
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.
ISSN: 1042296X
DOI: 10.1109/TRA.2002.807549
Rights: © IEEE
Type: Article
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