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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Book ChapterDOI
Visuelle Lenkassistenz für Fahrzeuge mit Einachsanhänger
TL;DR: Das Ruckwartsfahren von Fahrzeugen mit Anhangern macht erfahrungsgemas grose Schwierigkeiten, dass die Wirkung von Lenkradbewegungen unmittelbar sichtbar gemacht werden muss.
Proceedings ArticleDOI
Output-Feedback Path Planning with Robustness to State-Dependent Errors
Mahroo Bahreinian,Roberto Tron +1 more
TL;DR: In this article , the problem of sample-based feed-back motion planning from measurements affected by systematic errors is considered, and a novel strategy is proposed that allows the use of measurements affected with systematic errors in perceived depth, similar to what might be generated by vision-based sensors.
Dissertation
Path planning for wheeled mobile robots using an optimal control approach
TL;DR: In this dissertation, optimal control is employed to obtain optimal collision-free paths for two-wheeled mobile robots and manipulators mounted on wheeled mobile platforms from an initial state to a goal state while avoiding obstacles.
Book ChapterDOI
Autonomous Vehicle Tracking Based on Non-Linear Model Predictive Control Approach
TL;DR: In this paper , a non-linear model predictive control (NMPC) scheme for controlling autonomous driving vehicles tracking on feasible trajectories is developed, where the optimal control action for vehicle speed and steering velocity is generated online using NMPC optimizer subject to vehicle dynamic and physical constraints as well as the surrounding obstacles and the environmental side-slipping conditions.