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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Journal ArticleDOI
Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves
TL;DR: Using presented approach, autonomous vehicles generate and follow paths that humans are accustomed to, with minimum disturbances, and ultimately contribute towards passenger comfort improvement.
Journal ArticleDOI
Visual motion planning for mobile robots
Hong Zhang,James Ostrowski +1 more
TL;DR: This paper presents a novel framework for image-based motion planning, which is analogous to visual servo control, and provides a "virtual" trajectory in the image plane for the robot to track with standard visual servoing techniques.
Proceedings ArticleDOI
On the comparison of uncertainty criteria for active SLAM
TL;DR: It is shown that contrary to what has been previously reported, the D-optimality criterion is indeed capable of giving fruitful information as a metric for the uncertainty of a robot performing SLAM.
Journal ArticleDOI
Trajectory Planning and Control for Planar Robots with Passive Last Joint
TL;DR: Underactuated mechanical systems, which are subject to nonholonomic second-order constraints, are shown to be fully linearized and input-output decoupled by means of a nonlinear dynamic feedback and can plan smooth trajectories joining in finite time any initial and desired final state of the robot.
Journal ArticleDOI
Motion planning and control for Hilare pulling a trailer
TL;DR: The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented and how to reduce the problem to a classical approach of trajectory tracking for a mobile robot moving forward only is shown.