This paper considers the design of a motion planner that will simultaneously accomplish control and motion planning of a n-link nonholonomic mobile manipulator, wherein, a n-link holonomic manipulator is coupled with a nonholonomic mobile platform, within an obstacle-ridden environment. This planner, derived from the Lyapunov-based control scheme, generates collision-free trajectories from an i...

This paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. In this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. Also a novel method is used for parking space detec...

A general framework for the feedback control of mobile manipulators is proposed. Its main originality lies in its capacity to address in a unified manner both cases of omnidirectional and nonholonomic mobile platforms. It also allows for the execution of the desired manipulation task without the manipulator colliding into its joint limits, whenever these two objectives are compatible. This is o...

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the controlled dynamics are given by a nonholonomic mechanical system. In our paper, the controlled equations are derived using a basis of vector fields adapted to t...

Existing methods for nonholonomic motion planning can only be applied to exactly nilpotentizable or flat systems. For nonholonomic systems that do not fall into the above classes, we conjecture that globally defined nilpotent approximations will allow the synthesis of efficient steering and stabilization strategies. In this paper, a car towing two off-hooked trailers is considered as a case stu...

This paper concerns motion plannings on kinematic model of six-legged robot from two distinct aspect. The system is subjected to intermittent nonholonomic constraints making the robot model strati ed which requires additional considerations in motion planning. An improved version of strati ed control is compared in this paper with an approach exploiting di erential atness of a restricted subsys...

Conventional nonholonomic motion planning and control theories do not incorporate the effects of uncertain terrain. This paper discusses some basic issues of motion planning and control for kinematic vehicles on uncertain terrain. We extend proofs of local stabilizability for time varying feedback laws to vehicles on uncertain terrain by showing that terrain can be modeled as parametric uncerta...

This paper addresses new algorithms for motion planning of walking robots if they are given by stratified holonomic and nonholonomic kinematic models. The mathematical details for general stratified systems are investigated in [1], [2], [3], [4]. The main motivation of our concept is to complete motion planning algorithms that are able to avoid obstacles in the configuration space of walking ro...