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
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Journal ArticleDOI
Complexity of Nonholonomic motion planning
TL;DR: In this paper, the authors show that the complexity of motion planning for nonholonomic robots can be seen as a function of paths and distance between the paths and the obstacles, and they propose various definitions of complexity from both topological and metric points of view, and compare their values.
Journal ArticleDOI
A Geometric Algorithm to Compute Time-Optimal Trajectories for a Bidirectional Steered Robot
TL;DR: An original geometric reasoning that is grounded on Pontryagin's maximum principle is presented, which provides analytical solutions to the problem of determining time-optimal trajectories for a nonholonomic bidirectional steered robot and allows for an effective algorithm to compute the exact optimal trajectories between two arbitrarily specified configurations.
Journal ArticleDOI
Navigation of an Autonomous Car Using Vector Fields and the Dynamic Window Approach
TL;DR: In this paper, the vector field is associated with a kinematic, feedback linearization controller whose outputs are validated, and eventually modified, by the dynamic window approach for avoiding unmodeled obstacles.
Journal ArticleDOI
Computing connectedness: disconnectedness and discreteness
TL;DR: In this article, the authors consider finite point-set approximations of a manifold or fractal with the goal of determining topological properties of the underlying set and use the minimal spanning tree of the finite set of points to compute the number and size of its -connected components.
Proceedings ArticleDOI
Towards Topological Exploration of Abandoned Mines
TL;DR: This work presents a systemic approach to autonomous topological exploration of a mine environment to facilitate the process of mapping by focusing upon the interaction of three high-level processes: topological planning, intersection identification and local navigation.