Title :
Nonholonomic motion planning for mobile manipulators
Author :
Tanner, Herbert G. ; Kyriakopoulos, Kostas J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
Abstract :
A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinuous feedback law under the influence of a special potential field. Convergence is shown via Lyapunov´s direct method. Utilizing redundancy, the methodology allows the system to perform secondary, configuration dependent, objectives such as singularity avoidance. It introduces an efficient feedback scheme for real time navigation of nonholonomic systems
Keywords :
Lyapunov methods; feedback; manipulator kinematics; mobile robots; nonlinear control systems; path planning; Lyapunov´s direct method; cluttered environments; configuration dependent objectives; discontinuous feedback law; mobile manipulators; nonholonomic motion planning; potential field; real time navigation; singularity avoidance; Feedback; Manipulators; Mobile robots; Navigation; Optimal control; Orbital robotics; Path planning; Real time systems; Redundancy; Strategic planning;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844767
