Trajectory Planning and Posture control of Multiple Mobile Manipulators

Abstract

We propose an algorithm as a solution to the problem of trajectory planning and posture control of multiple mobile manipulators within a fixed and bounded but obstacle- ridden workspace. This, together with other kinematic and dynamics constraints normally integrated to the mobile manipulators have been treated simultaneously, for the first time, via a Lyapunov-based control scheme. The control scheme guarantees stability of the sys- tem, per se. We have accounted for the final orientations of the wheeled platforms and the attached links using a new optimization technique classified as minimum distance technique (MDT). The technique coupled with tuning parameters force prescribed orientations of the mobile manipulators. Efficiency of the new control algorithm is demonstrated via a couple of interesting computer simulations.