Reactive Behavior and dynamic sequencing for nonholonomic mobile manipulators

This work is devoted to planning and execution of complex missions in Robotics. It is organized around a complex mission: “Go around obstacles to the blackboard and write” for mobile manipulators that have capabilities of locomotion and manipulation. It is a simple and intuitive example of a complex mission that relies on different sensors, exhibits different operating modes and needs to switch between different feedbacks and set-points. It is focused on dynamical sequencing of control laws that ensures good transients, robustness and allows to update the mission at every transition from one mode to another. Simulation have been realized with matlab Simulink and Stateflow toolboxes and experimental validation has been developed within the Genom controller on the h2bis nonholonomic mobile manipulator.