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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Dissertation
Agentes de control de vehículos autónomos en entornos urbanos y autovías
TL;DR: In this article, the authors describe contribuciones hechas en el control lateral and longitudinal, utilizando tanto tecnicas de control clasico como tecneticas de inteligencia arti cial, fundamentalmente control borroso and neuro-borroso.
Dissertation
Suivi de trajectoires d'un robot mobile non holonome : approche par modèle flou de Tagaki-Sugeno et prise en compte des retards
TL;DR: In this paper, the authors propose deux nouvelles approches for le suivi de trajectoire de robots mobiles non holonomes, based on the use of modeles polytopiques non lineaires, appeles modeles flous de type Takagi-Sugeno (TS), and the synthese de lois de commande PDC (Parallel Distributed Compensation).
Journal ArticleDOI
Canonical representation of the path following problem for wheeled robots
TL;DR: Three changes of variables known from the literature, which were earlier used for synthesis of stabilizing controls for wheeled robot models described by the third- and fourth-order systems of equations, are shown to be canonical ones and can be generalized to the n-dimensional case.
Journal ArticleDOI
Entropy estimations for motion planning problems in robotics
J. P. Gauthier,V. M. Zakalyukin +1 more
TL;DR: In this article, the complexity and entropy of a motion planning problem for a sub-Riemannian distribution was studied. But the complexity of the problem was not studied. And the entropy of the general case of the distribution was not considered.
Dissertation
Définitions et analyse de stabilités pour les systèmes à retard non linéaires
TL;DR: In this paper, the authors dedie a l'etude de the stabilite des systemes a retards via les methodes temporelles de Lyapunov.