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: | 27 May 2015 23:55 |
| Last Modified: | 28 Apr 2016 23:55 |
| URI: | https://repository.usp.ac.fj/id/eprint/8280 |
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