Nonholonomic motion planning for mobile manipulators
HG Tanner, KJ Kyriakopoulos - Proceedings 2000 ICRA …, 2000 - ieeexplore.ieee.org
Proceedings 2000 ICRA. Millennium Conference. IEEE International …, 2000•ieeexplore.ieee.org
A nonholonomic motion planner for mobile manipulators moving in cluttered environments is
presented. The approach is based on a discontinuous feedback law under the influence of a
special potential field. Convergence is shown via Lyapunov's direct method. Utilizing
redundancy, the methodology allows the system to perform secondary, configuration
dependent, objectives such as singularity avoidance. It introduces an efficient feedback
scheme for real time navigation of nonholonomic systems.
presented. The approach is based on a discontinuous feedback law under the influence of a
special potential field. Convergence is shown via Lyapunov's direct method. Utilizing
redundancy, the methodology allows the system to perform secondary, configuration
dependent, objectives such as singularity avoidance. It introduces an efficient feedback
scheme for real time navigation of nonholonomic systems.
A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinuous feedback law under the influence of a special potential field. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, configuration dependent, objectives such as singularity avoidance. It introduces an efficient feedback scheme for real time navigation of nonholonomic systems.
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