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
Solution to a door crossing problem for an autonomous wheelchair
TL;DR: The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination and an adaptive trajectory tracking control based on the dynamic model to direct the wheelchair motion along the path in a smooth movement.
Journal ArticleDOI
On the Codimension One Motion Planning Problem
TL;DR: In this paper, the authors improved the results of [5] related to motion planning problems for corank one sub-Riemannian (SR) metrics, and gave the exact estimate of the metric complexity, in the generic 3-dimensional case.
Journal ArticleDOI
Экспоненциальное отображение в обобщенной задаче Дидоны@@@Exponential map in the generalized Dido problem
Proceedings ArticleDOI
Fast minimum uncertainty search on a graph map representation
TL;DR: A path planning algorithm that uses a novel determinant-based measure of uncertainty and a reduced representation of the environment, in order to obtain the minimum uncertainty path from a roadmap to obtain an autonomous navigation framework is proposed.
Journal ArticleDOI
Trajectory segmentation for the autonomous control of backward motion for truck and trailer
TL;DR: The principle of safe cover segments which are never left by the vehicle in motion are introduced and rules for the connection of such segments forming a safe corridor are defined.