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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Proceedings ArticleDOI
“Give me the purple ball” - he said to HRP-2 N.14
Eiichi Yoshida,Anthony Mallet,Florent Lamiraux,Oussama Kanoun,Olivier Stasse,Mathieu Poirier,Peter Ford Dominey,Jean-Paul Laumond,Kazuhito Yokoi +8 more
TL;DR: The objective is to highlight the critical issues that had to be solved to allow the humanoid robot HRP-2 to understand and execute the order ldquogive me the purple ballrdquo in an autonomous way.
Journal ArticleDOI
Robust Zero Placement for Motion Control of Lightly Damped Systems
TL;DR: A unified tuning rule for the motion profiles is newly proposed to reduce the residual vibration by adjusting the tuning parameters to place the zeros of the motion profile on a vibratory pole of the system, resulting in robust performance against modeling errors.
Proceedings ArticleDOI
Design and implementation of a neuro-fuzzy system for longitudinal control of autonomous vehicles
TL;DR: This work utilizes a neuro-fuzzy system to use human driving knowledge to tune and adjust the input-output parameters of a fuzzy if-then system and shows several improvements in the control system adjusted by neuro- fuzzy techniques in comparison to the previous manual tuned controller.
Journal ArticleDOI
Output feedback controller design of a unicycle-type mobile robot with delayed measurements [Brief Paper]
TL;DR: In this paper, the trajectory tracking controller design of a wheeled mobile robot subject to delayed measurements using the flatness properties of the unicycle-type mobile robot, an output feedback approach based on a non-linear predictor to estimate the state variables is proposed to guarantee the exponential stability of the tracking errors.
Journal ArticleDOI
Tracking an omnidirectional evader with a differential drive robot
TL;DR: This paper develops the system model, and obtains optimal motion strategies for both players, which allow the long term solution for the pursuit-evasion game to be established.