Nonholonomic motion planning for mobile manipulators

Herbert G. Tanner, Kostas J. Kyriakopoulos

Research output: Contribution to journalConference articlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)1233-1238
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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