Unified model approach for planning and control of mobile manipulators

This paper describes the design of new centralized acceleration-based controllers for the multitask problem of motion planning and control of a coordinated lead-carrier team fixed in a dual-formation within an obstacle-ridden environment. A dϕ-strategy, where d and ϕ are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot. This connectivity, built into the system itself, inherently ensures globally rigid formation between each lead-carrier pair of the team. Moreover, a combination of target configuration, dϕ-strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid). Therefore, for the first time, a dual-formation control problem of a lead-carrier team of mobile manipulators is considered. This and other kinodynamic constraints have been treated simultaneously via the overarching Lyapunov-based control scheme, essentially a potential field method favored in the field of robotics. The formulation of this new scheme, demonstrated effectively via computer simulations, is timely, given that the current proposed engineering solutions, allowing autonomous vehicles on public roads, include the development of special lanes imbued with special sensors and wireless technologies.

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Integrated Task Planning and Control for Mobile Manipulators

The International Journal of Robotics Research ◽

10.1177/0278364903022005004 ◽

2003 ◽

Vol 22 (5) ◽

pp. 337-354 ◽

Cited By ~ 81

Author(s):

Jindong Tan ◽

Ning Xi ◽

Yuechao Wang

Keyword(s):

Mobile Manipulators ◽

Task Planning ◽

Planning And Control ◽

And Control

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1/f Noise and movement constraints in the planning and control of aiming

PsycEXTRA Dataset ◽

10.1037/e429042008-001 ◽

2008 ◽

Keyword(s):

Planning And Control ◽

And Control

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PLANNING TO MEET THE GROWING DEMANDS ON NORTHLANDS WATER RESOURCES

Proceedings of the New Zealand Grassland Association ◽

10.33584/jnzg.1986.47.1761 ◽

1986 ◽

pp. 33-42

Author(s):

D.L. Roke

Keyword(s):

Industrial Development ◽

Water Resource Management ◽

Limited Resources ◽

Careful Planning ◽

Management Planning ◽

Planning And Control ◽

Sources Of Pollution ◽

And Control ◽

Resource Management Planning ◽

Pastoral Farming

The growth in horticultural and some industrial development in selected areas of Northland has led to a need for more specific and careful planning and control of limited resources in a number of major catchments. The potential irrigation demands for horhculture comprise over 60% of Northland's potential water requirements. By contrast, farm water supply needs are only 11% of these needs. Because of their importance to the Northland economy, and in the legislation these needs are given a high priority in water resource management planning. Land uses, including pastoral farming, require careful operation to reduce diffuse sources of pollution.

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