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
Citations
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Robotic Motion Planning and
TL;DR: In this article, a CCD camera based vision sensor is used to track the rotating part with an a priori specified relative orientation on a rotating turntable with unknown motion dynamics.
Proceedings ArticleDOI
An Integrated Software Concept for Autonomous Driving in the Context of Intermodal Freight Traffic
Dieter Zöbel,Christian Weyand +1 more
TL;DR: This paper presents the software architecture for the integrated guidance of commercial vehicles at different levels of abstraction, which includes the animation and the evaluation of the simulated traffic on a railway terminal as well as the complete software stack which is necessary for the disposition of a large number of autonomously operating real commercial vehicles.
Proceedings ArticleDOI
Dynamic surface control-based stabilization of an n th chained systems with application to a car-like robot
TL;DR: This work aims to design a Dynamic Surface Controller in order to stabilize the nth order chained systems able to express several kinds of nonholonomic, nonlinear and underactuated systems as unicycle, car-like, be-steerable car, car with trailer, etc.
Proceedings ArticleDOI
Automatic computation of range of motion for coherent contact maintenance/transition of moving scaled convex polyhedra
Jing-Sin Liu,Wen-Hua Pan +1 more
TL;DR: This paper presents an automatic method applicable to convex polyhedral objects that can undergo both uniform scaling transformation and any type of relative motion for computing the range of motion for spatial coherence, i.e. that can keep the scaled contact features after motion unchanged as original undeformed configuration.