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
Path planning with orientation-aware space exploration guided heuristic search for autonomous parking and maneuvering
TL;DR: An extended version of Space Exploration Guided Heuristic Search (SEHS) method, called Orientation-Aware Space exploration guided heuristic search (OSEHS), is introduced to solve the path planning problems for parking and maneuvering.
Proceedings ArticleDOI
An optimal control model unifying holonomic and nonholonomic walking
TL;DR: The underlying principles of natural locomotion path generation of human beings are explored, unifying nonholonomic and holonomic parts of the motion, as well as a carefully designed unified objective function.
Dissertation
Dynamic Modeling and Control of a Car-Like Robot
TL;DR: System dynamics of car-like robots with nonholonomic constraints were employed in this research to create a controller for an autonomous path following vehicle and the application of working kinematic and dynamic models allowing the development of a nonlinear controller.
Journal ArticleDOI
SLAM-based Cross-a-Door Solution Approach for a Robotic Wheelchair
TL;DR: The cross-a-door problem in unknown environments for a robotic wheelchair commanded through a Human-Machine Interface (HMI) is solved by a dynamic path planning algorithm implementation based on successive frontier points determination.
Journal ArticleDOI
Feedback control framework for car-like robots using the unicycle controllers
TL;DR: A novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics, is introduced.