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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An investigation of the gradient descent process in neural networks
TL;DR: By regarding deterministic gradient descent as a dynamic system, this work obtains results concerning its convergence, and a quantitative theory of its behavior when a saturating or "robust" error measure is used.
Journal ArticleDOI
Wheeled Mobile Robot Trajectory Tracking using Sliding Mode Control
TL;DR: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots based on the robust sliding mode control technique and shows the superiority of the proposed controller compared with the computed torque method.
Journal ArticleDOI
Global κ-exponential Tracking Control of Nonholonomic Systems in Chained-form by Output Feedback
TL;DR: A new feature of the proposed controller is that the output tracking control problem of nonholonomic chained form systems is also resolvable without the popular condition of persistent excitation or not converging to zero on reference signals in the previous works.
Proceedings ArticleDOI
Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot
Rafael Murrieta-Cid,Lourdes Muñoz-Gómez,Moises Alencastre-Miranda,A. Sarmiento,S. Kloder,Seth Hutchinson,F. Lamiraux,J.P. Laumond +7 more
TL;DR: The system model is developed, from which the lower bound for the required observer speed is derived, and the effect of obstacles on the observer's ability to successfully track the target is considered.
Proceedings ArticleDOI
Line following control of an autonomous truck-trailer
TL;DR: The path following control is designed based on the Lyapunov method and the global asymptotic stability of the origin of error variables is shown and optimization of the control parameters is performed to include the constraints of the truck-trailer maneuver.