DocumentCode
2032186
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
Volume
2
fYear
2000
fDate
2000
Firstpage
1233
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844767
Filename
844767
Link To Document