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Autonomous control of multiple mobile manipulators

Singh, Shonal and Sharma, Bibhya N. and Vanualailai, Jito and Prasad, Avinesh (2012) Autonomous control of multiple mobile manipulators. World Academy of Science, Engineering and Technology, NA (72). pp. 834-843. ISSN 2070-3740

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This paper considers the autonomous navigation problem of multiple n-link nonholonomic mobile manipulators within an obstacle-ridden environment. We present a set of nonlinear acceleration controllers, derived from the Lyapunov-based control scheme, which generates collision-free trajectories of the mobile manipulators from initial configurations to final configurations in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulators with results through computer simulations of an interesting scenario.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Unnamed user with email
Date Deposited: 01 May 2013 04:14
Last Modified: 18 Jan 2017 23:46

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