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.

Nonholonomic systems of robotics, resulting from constraints expressed in the Pfaff form, can be described as driftless systems.

background

Robot Motion Planning and Control

Lie Algebraic Approach to Nonholonomic Motion Planning in Cluttered Environment

Determinación y localización espacial de objetos geométricos simples para la manipulación por un robot móvil autónomo

This paper presents how motion control and motion planning can be used to develop an automated robot. The paper begins with an overview of the fundamentals of motion control and motion planning and shows some examples of where motion planning and control can be seen in use. The paper then focuses on demonstrating the use of motion control and planning through the development of an automated disk loading robot.

methods

An Application of Motion Control and Motion Planning

Algorithms of a non-numerical and non-heuristic nature are developed and implemented in this work for the analysis of motion planning. In particular, the most complete analysis of the motion planning problem is performed for a 2-link planar mechanism and the problem is formulated in purely geometric terms. We describe an algorithm which determines the shortest path between any two points in the joint space. Moreover, the algorithm can be used to choose a path such that the variation of the joint angles along the path guarantees the fastest transference of an arm end-effector between two generic points, i.e., from A to B, in the workspace. Finally, the problem of planning the shortest path for a 2-link arm is considered in an environment containing obstacles in the form of points which the manipulator cannot cross.

Robot Motion Planning and Control

Citations

Lie Algebraic Approach to Nonholonomic Motion Planning in Cluttered Environment

Determinación y localización espacial de objetos geométricos simples para la manipulación por un robot móvil autónomo

An Application of Motion Control and Motion Planning

Motion Planning of an N-Joint Planar Mechanism : A Non-Heuristic Approach

Error Function Based Kinematic Control Design for Nonholonomic Mechanical Systems

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