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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. [Conference Proceedings]

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    Abstract

    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: Conference Proceedings
    Subjects: T Technology > T Technology (General)
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Generic Account
    Date Deposited: 04 Jun 2013 15:13
    Last Modified: 18 Apr 2017 11:11
    URI: http://repository.usp.ac.fj/id/eprint/5840
    UNSPECIFIED

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