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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Multi-body code and software control co-simulation for the dynamic behaviour analysis of rover exploration vehicle
TL;DR: In this article, the authors developed the Activate model for co-simulation, implementing the low-level control loop of the ExoMars rover wheel actuators (DC motors) and the higher level locomotion function, which allows driving the rover given the manoeuvre commands set by the user, rather than acting on the actuator speeds and position.
Nonholonomic feedback control among moving obstacles
TL;DR: A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles and can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment.
Posted Content
A Review of Autonomous Road Vehicle Integrated Approaches to an Emergency Obstacle Avoidance Maneuver.
Evan Lowe,Levent Guvenc +1 more
TL;DR: In this paper, a review of the state-of-the-art emergency obstacle avoidance maneuver (EOAM) related systems is presented, including general path planning methods, system hierarchies, decision-making, trajectory generation, and trajectory-tracking control methods.
Sampling-Based Motion Planning: A Survey Planificación de Movimientos Basada en Muestreo: Un Compendio
TL;DR: A review of the most influential proposals and ideas for sampling-based motion planning can be found in this paper, providing indications on their practical and theoretical implications, as well as the contributions made by Mexican researchers in this field.
Dissertation
Analyse et exploitation de la dynamique naturelle des robots sous-actionnés
TL;DR: L'analyse DCM ainsi que les trois nouvelles mesures de performances denommees Natural Dynamics Index (NDI) demontrent le role central de l'exploitation de the dynamique naturelle pour depasser la capacite physique du robot qui est dictee par les limites des couples d'entree.