Lyapunov-based nonlinear controllers for obstacle avoidance with a planar n-link doubly nonholonomic manipulator
参考中译:基于Lyapunov的平面n杆双非完整机械臂避障非线性控制器


          

刊名：Robotics and Autonomous Systems
作者：B. Sharma（School of Computing, Information & Mathematical Sciences, University of the South Pacific）
J. Vanualailai（School of Computing, Information & Mathematical Sciences, University of the South Pacific）
S. Singh（School of Computing, Information & Mathematical Sciences, University of the South Pacific）
刊号：737LB056
ISSN：0921-8890
出版年：2012
年卷期：2012, vol.60, no.12
页码：1484-1497
总页数：14
分类号：TP24
关键词：Lyapunov-based control scheme；n-link doubly nonholonomic manipulators；Artificial potential fields；Lyapunov stability；Kinodynamic constraints
参考中译：基于Lyapunov的控制方案；n连杆双非完整机械臂；人工势场；Lyapunov稳定性；运动学约束
语种：eng
文摘：A mobile manipulator is a robotic system made up of two components; a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system requires complex design and control. This paper considers the autonomous navigation problem of a nonholonomic mobile platform and an n-link nonholonomic manipulator fixed to the platform. For this planar n-link doubly nonholonomic manipulator, we present the first ever set of nonlinear continuous controllers for obstacle avoidance. The controllers provide a collision-free trajectory within a constrained workspace cluttered with fixed obstacles of different shapes and sizes whilst satisfying the nonhomonomic and kinodynamic constraints associated with the robotic system. An advantage of the proposed method is the ease at which the acceleration-based control laws can be derived from the Lyapunov function. The effectiveness of the nonhomolonomic planner is demonstrated via computer simulations.



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