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Motion Planning and Posture Control of Multiple n-link Doubly Nonholonomic Manipulators

Sharma, Bibhya N. and Vanualailai, Jito and Singh , Shonal (2015) Motion Planning and Posture Control of Multiple n-link Doubly Nonholonomic Manipulators. Robotica, NA . pp. 1-25. ISSN 0263-5747

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    Abstract

    The paper considers the problem of motion planning and posture control of multiple n-link doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace. The workspace is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves), artificial obstacles and moving obstacles. The coordination of multiple n-link doubly nonholonomic mobile manipulators subjected to such constraints becomes therefore a challenging navigational and steering problem that few papers have considered in the past. Our approach to developing the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a Lyapunov control scheme that is not only intuitively understandable but also allows simple but rigorous development of the controllers. Via the scheme, we showed that the avoidance of all types of obstacles was possible, that the manipulators could reach a neighborhood of their goal and that their final orientation approximated the desired orientation. Computer simulations illustrate these results. KEYWORDS: Lyapunov-based control scheme; Doubly nonholonomic manipulators; Ghost parking bays; Minimum distance technique; Stability; Kinodynamic constraints.

    Item Type: Journal Article
    Subjects: Q Science > QA Mathematics > QA76 Computer software
    Divisions: Office of the PVC (R&I)
    Faculty of Science, Technology and Environment (FSTE)
    Depositing User: Bibhya Sharma
    Date Deposited: 28 May 2015 11:55
    Last Modified: 29 Apr 2016 11:55
    URI: http://repository.usp.ac.fj/id/eprint/8280
    UNSPECIFIED

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