Modeling, control and obstacle avoidance of a mobile robot with an onboard manipulator

A systematic approach for modeling and base motion control of a mobile vehicle with an onboard robot is presented. Feedback linearization is used to take into account the complete dynamics with nonholonomic constraints. Methods from potential field theory are incorporated to provide resolution among possibly conflicting performance goals (e.g. maintaining a desired course and speed plus obstacle avoidance). The feedback linearization provides an inner loop that accounts for possible motion of the onboard arm. The case of maintaining a desired course and speed is considered. The outer control loop is designed using potential field theory, with the two objectives of homing and avoiding an obstacle