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
Citations
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Journal ArticleDOI
A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators
TL;DR: In this article, the authors compare equations of motion using the so-called inertial quasi-velocities and conclude that all these methods offer interesting possibilities for dynamic simulation and future control investigations.
Proceedings ArticleDOI
Robust motion control for nonholonomic constrained mechanical systems: sliding mode approach
TL;DR: In this paper, the robust trajectory tracking problem for a general class of nonholonomic systems with velocity constraints in the presence of uncertainties is addressed, and a sliding mode control scheme is presented to guarantee trajectory tracking of closed-loop system.
Book
Model Abstraction in Dynamical Systems: Application to Mobile Robot Control
TL;DR: It is shown that a control system abstraction can capture the time evolution of the uncertainty in the original system by an appropriate choice of control input.
Skeletal animation for the exploration of graphs
Damian Merrick,Tim Dwyer +1 more
TL;DR: A system is discussed which, after generating an initial 3D layout for a graph, creates a structural "skeleton" of the graph and allows a user to push, pull and drag nodes of the skeleton in order to manipulate the layout.
Proceedings ArticleDOI
New trajectory generation methods for nonholonomic mobile robots
Wenjie Dong,Yi Guo +1 more
TL;DR: Two trajectory generation algorithms are proposed, one uses a differential flatness based method and the other uses a polynomial input based method for nonholonomic mobile robots.