BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
Reads0
Chats0
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
More filters
Proceedings ArticleDOI
Stabilization of the general two-trailer system
TL;DR: It is shown that exponential convergence to arbitrary configurations can be obtained by means of an iterative steering technique based on a nonhomogeneous nilpotent approximation of the system.
Journal ArticleDOI
Data fusion and path-following controllers comparison for autonomous vehicles
Urbano Nunes,L. Conde Bento +1 more
TL;DR: In this article, a comparative study of two path-following controllers developed for guiding autonomous vehicles in semi-structured outdoor environments is presented, integrating redundant encoders data and absolute positioning data provided by on-board magnetic sensors.
Book ChapterDOI
Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle
TL;DR: This paper considers the problem of stabilizing the kinematic model of a car to a general path in the plane, subject to very mild restrictions, and follows an optimal synthesis approach successfully applied in previous work to tracking rectilinear paths.
Book ChapterDOI
A Comparison of Decision Making Criteria and Optimization Methods for Active Robotic Sensing
TL;DR: In this article, a comparison of decision making criteria and optimization methods for active sensing in robotics is presented, where the authors focus on the second aspect: "Where should the robot move at the next time step?".
Journal ArticleDOI
Dynamic modeling and tracking control of a car with \(n\) trailers
Abstract: Tractor–trailer systems as multibody modular robotic systems have been widely used to increase load transportation capacity Control of these systems started from motion aid facilities in human-driven vehicles to fully autonomous mobile robots in recent years The mobility of these systems is restricted due to the presence of nonholonomic constraints of wheels and also to the system severe underactuated nature Several control problems are under research for autonomous navigation of such systems Trajectory tracking is one of the main problems in the context of autonomous nonholonomic systems In this paper, dynamic modeling and control of a car with $n$
trailers have been developed First, a dynamic model of the system is obtained Next, an output feedback kinematic controller and a feedback linearization kinetic controller have been used for tracking control of the system Finally, experimental results are presented to show the merits of the proposed method