Nonholonomic motion planning for mobile manipulators
- 1 January 2000
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1233-1238
- https://doi.org/10.1109/robot.2000.844767
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.Keywords
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