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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Proceedings ArticleDOI
Modular control of limb kinematics during human walking
TL;DR: The “A-A ratio” is introduced, which is the EMG ratio of agonist-antagonist muscle pairs, which specifies that human lower limb movement during walking is explained as the superposition of a few modular units, and that decomposed modules encode the kinematic information of body movement.
Journal ArticleDOI
Low-harmonic rational Be´zier curves for trajectory generation of high-speed machinery
TL;DR: In this paper a special class of rational Bezier curves is presented that correspond to low-harmonic trajectory patterns that can be used to synthesize trajectories within the dynamic response limitations of the actuators while avoiding the excitation of the natural modes of vibration of the system.
Journal ArticleDOI
Formation control for multiple unmanned aerial vehicles in constrained space using modified artificial potential field
TL;DR: A Modified Artificial Potential Field technique is proposed, which guarantees to generate and maintain a given formation while avoiding collisions, and an obstacle repulsive potential field is introduced into this approach to deal with collision avoidance under environmental constraints.
Journal ArticleDOI
Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot
TL;DR: A practical tracking controller is designed using the second-order sliding mode control of the super twisting algorithm of the Robucar to achieve output tracking of the desired trajectory, and the tracking errors vanish asymptotically.
Dissertation
Generating whole body movements for dynamics anthropomorphic systems under constraints
TL;DR: An original method of motion generation aiming at the imitation of the human motion is developed based on the reshaping of the captured data and the motion editing by using the hierarchical solver previously introduced and the definition of dynamic tasks and constraints.