pISSN 1598-2645
eISSN 2093-744X
eISSN 2093-744X
The mobile manipulator fails to reach a goal position (blue star) as the force field is vanished in the following two cases: (a) local minima cuased by the mobile manipulator part and on-ground obstacles and (b) local minima caused by the elbow manipulator part and an off-ground obstacle.