BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
Reads0
Chats0
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
Citations
More filters
Proceedings ArticleDOI
Sensor-landmark motion planning in mobile robots
TL;DR: This paper sets the formal basis for a sensor-landmark-based motion planning approach that enables secure motions by putting emphasis on landmarks that can represent a danger of collision in the trajectory closed-loop motion strategies for the robot.
Dissertation
On Autonomous Humanoid Robots: Contact Planning for Locomotion and Manipulation
TL;DR: In this paper, a unified planning approach for humanoid robots that perform dexterous locomotion and manipulation tasks is proposed, which is based on contact transitions between the locomotion limbs of the robot and the environment.
Dissertation
Méthodologies pour la commande de manipulateurs mobiles non-holonomes
TL;DR: In this paper, a cadre methodologique for the synthese de lois de commande par retour d'etat de tels systemes, en partant du constat qu'une strategie de coordination entre la plate-forme and le manipulateur requiert generiquement de commander the situation complete de la plateforme.
Dissertation
Commande d’un robot mobile rapide à roues non directionnelles sur sol naturel
TL;DR: In this article, a semi-empirical approach is proposed to construct an architecture of commande for the suivi de trajectoire ou de chemin, en tenant compte de la dynamique and des glissements.
Proceedings ArticleDOI
Nearly time-optimal point to point navigation control design for power wheelchair dynamics
TL;DR: In this article, the authors focused on discrete time and nearly time-optimal point-to-point navigation control of an autonomous power wheelchair and designed a discrete time PI type controller with disturbance input decoupler.