Abstract
This paper addresses the problem of collision avoidance control of mobile manipulators evolving in unknown and dynamic environments. The proposed approach is based on Deformable Virtual Zone (DVZ) paradigm. The formulation of this method is given for mobile bases and its extension to mobile manipulators is detailed. This approach allows to implement fast control laws and can be seen as an efficient low level algorithm for controlling motions to avoid unscheduled obstacles. Simulation results are discussed, showing the effectiveness of the proposed method.
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