BookDOI
Robot Motion Planning and Control
Jean-Paul Laumond
- Iss: 229
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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Journal ArticleDOI
Robust stabilization of a wheeled vehicle: Hybrid feedback control design and experimental validation
TL;DR: In this article, a hybrid feedback controller that assigns different objectives in the vehicle's global and local behaviors is proposed, and two Lyapunov functions for individual objectives are introduced that allow a hybrid-feedback control law to pursue different objectives.
Proceedings ArticleDOI
Coordinating the motions of multiple robots with kinodynamic constraints
Jufeng Peng,Srinivas Akella +1 more
TL;DR: Two related mixed integer linear programming (MILP) formulations that provide schedules that are lower and upper bounds on the optimum; the upper bound schedule is a continuous velocity schedule.
Journal ArticleDOI
Motion safety and constraints compatibility for multibody robots
TL;DR: A methodology to ensure safe behaviors of multibody robots in reactive control frameworks by focusing on the constraints expression: the compatibility between these constraints is studied, and safe alternatives are ensured when compatibility cannot be established.
Book ChapterDOI
Whole-body Motion Planning – Building Blocks for Intelligent Systems
TL;DR: A whole-body control concept is explained, and a method to determine optimal stance locations with respect to a given task is presented, which casts the overall robot movement into an integral optimization problem, and leads to smooth and collision-free movements within interaction time.
Journal ArticleDOI
A two-stage optimal motion planner for autonomous agricultural vehicles
TL;DR: In this article, a two-stage motion planning algorithm is proposed to compute low-cost motions for autonomous agricultural vehicles, for a given cost function defined over the entire path (e.g., shortest path, maximum clearance, etc.).