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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Dissertation
Planification et exécution de mouvements référencés sur des amers
TL;DR: In this article, the authors propose an approche generique de planification of mouvements references sur des amers, which permits to produce mousvements surs en donnant plus d'importance aux amers who ont de bonnes proprietes de localisation or bien a ceux who representent un danger de collision.
Journal ArticleDOI
Design and control of a mobile manipulator with stereo vision guidance
Levent Cetin,Erol Uyar +1 more
TL;DR: Using vision based control, two different control types for mobile platform and manipulator is applied and Experimental results demonstrates success of control system in autonomus positioning tasks.
Dissertation
Analyzing Motions of Unicycles and Car-Like Vehicles
TL;DR: In this article, a method for parameterizing a desired path for nonholonomic systems using a synchronization function among all degrees of freedom is presented, and a set of equations to find feasible trajectories keeping the desired path virtually constrained is calculated.
Proceedings ArticleDOI
Fault Tolerant Control of Wheeled Mobile Robots Using Adaptive Sliding Mode Controller
Mustafa Ayyildiz,Umut Tilki +1 more
TL;DR: In this paper, an adaptive sliding mode controller and kinematic controller are proposed as a controllers system for the mobile robot in order to decrease the disturbances, error and actuator faults of the system.
Ball-handling motion control for soccer playing mini-robots
A. L. Schoute,M. Poel +1 more
TL;DR: The planned paths in motion planning are extended with the more flexible Bézier splines and the new control system shows an accurate trajectory tracking when using feed-forward as well as feed-backward control at low speeds.