Nonholonomic Motion Planning for Mobile Manipulators
نویسندگان
چکیده
|A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinous feedback law under the infuence of a special potential eld. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, connguration dependent, objectives such as singularity avoidance. It introduces an eecient feedback scheme for real time navigation of nonholonomic systems.
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