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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Proceedings ArticleDOI
Land mobile platform for incursion on semi-structured environments
TL;DR: The article deals with the design, construction and instrumentation of a prototype mobile robot.
Posted Content
Affine trajectory correction for nonholonomic mobile robots
TL;DR: This paper uses a method based on affine transformations to derive position correction, orientation correction, obstacle avoidance and feedback control algorithms for the general class of planar wheeled robots and for a tridimensional underwater vehicle.
Posted Content
Nilpotentization of the Kinematics of the N-Trailer System at Singular Points and Motion Planning Through the Singular Locus
TL;DR: A constructive procedure is proposed that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form, which converts the non-holonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equations).
Journal ArticleDOI
Movement stabilization along the given path for a two-wheeled robot with a differential drive
Journal ArticleDOI
Parametric Identification for a Free-Floating Base Space Manipulator
TL;DR: In this paper, parametric identification algorithms are applied to estimate dynamic parameters of a space manipulator, whose model is described through the Dynamically Equivalent Manipulator approach, and a sufficiently rich input signal is applied as reference trajectory for joints position, while a simple model based PID computed torque control scheme is responsible for keeping the trajectory tracking.