Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/1356
Title: | Nonholonomic navigation and control of cooperating mobile manipulators | Authors: | Tanner, Herbert G. Kyriakopoulos, Kostas J. Loizou, Savvas |
Major Field of Science: | Social Sciences | Keywords: | Computer simulation;Mobile robots;Lyapunov functions | Issue Date: | Feb-2003 | Source: | IEEE Transactions on Robotics and Automation, 2003, vol. 19, no. 1, pp. 53-64 | Volume: | 19 | Issue: | 1 | Start page: | 53 | End page: | 64 | Journal: | IEEE Transactions on Robotics and Automation | 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. | URI: | https://hdl.handle.net/20.500.14279/1356 | ISSN: | 1042296X | DOI: | 10.1109/TRA.2002.807549 | Rights: | © IEEE | Type: | Article | Affiliation : | National Technical University Of Athens | Publication Type: | Peer Reviewed |
Appears in Collections: | Άρθρα/Articles |
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