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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Journal ArticleDOI
Symbolic feedback control for navigation
Sean B. Andersson,D. Hristu +1 more
TL;DR: The use of a symbolic control approach for mitigating the lack of a detailed map of the environment and for reducing the complexity associated with finding control laws which steer a control system between distant locations is explored.
Proceedings ArticleDOI
Vision-based control of a smart wheelchair for the automated transport and retrieval system (ATRS)
TL;DR: It is indicated that the coupling of vision-based localization for feedback and input/output feedback linearization techniques for controller design can provide for accurate wheelchair navigation and reliable docking under a range of ambient illumination conditions.
Journal ArticleDOI
WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification
TL;DR: WSRender is presented, a versatile research-oriented framework for workspace analysis and visualization based on the Orocos Kinematics and Dynamics Library and the Matlab Robotic Toolbox, which helps researchers study, evaluate, and optimize their designs based on specific criteria with due consideration of ergonomic considerations.
Proceedings ArticleDOI
A Visual Servoing Approach for Road Lane Following with Obstacle Avoidance
TL;DR: This paper presents a local navigation strategy with obstacle avoidance applied to autonomous robotic automobiles in urban environments, based on the validation of a Visual Servoing controller in a Dynamic Window Approach.
Proceedings ArticleDOI
Image reconstruction via non-isotropic diffusion in Dubins/Reed-Shepp-like control systems
TL;DR: The image inpainting results of two models of geometry of vision obtained through control theoretic considerations (the semi-discrete versions of the Citti-Petitot-Sarti and Mumford Elastica models) are compared.