BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
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TLDR
Guidelines in nonholonomic motion planning for mobile robots and collision detection algorithms for motion planning are presented.Abstract:
Guidelines in nonholonomic motion planning for mobile robots.- Geometry of nonholonomic systems.- Optimal trajectories for nonholonomic mobile robots.- Feedback control of a nonholonomic car-like robot.- Probabilistic path planning.- Collision detection algorithms for motion planning.read more
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DissertationDOI
Terrain Assessment for High Speed Navigation of Unmanned Ground Vehicles
TL;DR: In this article, the authors present a Table of Table of Tables of Table 1 : Table of the Table of contents of the table............................................................................................................................... ii Acknowledgements
Proceedings ArticleDOI
Completeness of Randomized Kinodynamic Planners with State-based Steering
TL;DR: This work provides a proof of probabilistic completeness for an important class of planners, namely those whose steering method is based on the interpolation of system trajectories in the state space, and proposes a classification of the various types of constraints and planning methods.
Proceedings ArticleDOI
Planning: a sketch of the theory
TL;DR: The paper then considers geometry, collision-free paths, nonholonomic systems, unknown environments, redundancy, actions and states, visibility, learning, multiresolutional organisation, and intelligence.
Proceedings ArticleDOI
A rule-based system for trajectory planning of an indoor mobile robot
TL;DR: A software simulation model is developed for a two wheels driven mobile robot motion controller that can navigate the robot safely through an unknown environment and demonstrates that the indoor robot navigated successfully in tight corridors, avoided obstacles and dealt with a variety of world maps with various irregular wall shapes.
Proceedings ArticleDOI
On time-memory trade-off for collision detection
TL;DR: A new approach to reduce the computation time for collision checks significantly is proposed, which store finitely many possible collision scenarios between two objects in a table and thus collision checks become a matter of lookup table queries.