Motion Planning and Navigation of a Dual-Arm Mobile Manipulator in an Obstacle-Ridden Workspace

This paper presents a design of velocity controllers for a 2-link dual-arm mobile manipulator which is required to move from its starting configuration to a final position while targeting to avoid multiple fixed circular obstacles of random sizes and positions, and observing all mechanical singularities which are associated with the system. With the help of Lyapunov-based control scheme (LbCS), nonlinear time-invariant continuous velocity-based control laws are formulated which enable the center of the car-like mobile structure to converge to a predetermined target position and the links attain a final orientation. The method also guarantees stability associated with the system proving the use of direct method of Lyapunov. The computer simulations illustrate the effectiveness of the proposed technique.