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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Local Navigation for Unmanned Group Vehicles
TL;DR: This document surveys the state of the art in both indoor obstacle avoidance techniques and those for outdoor rough terrain and discusses the applicability of robot motion planning algorithms like Rapidly Exploring Random Trees to the robot navigation problem.
Journal ArticleDOI
Controlling of a mobile robot with a trailer and its nilpotent approximation
TL;DR: In this paper, different control models of car-like robots are considered from the differential-geometric point of view, and the same models can also be used for controlling a mobile robot with a trailer.
Journal ArticleDOI
Vision-based docking for biomimetic wheeled robots
TL;DR: In this article, the authors present a new control law for the problem of docking a wheeled robot at a certain location with a desired heading, where no attempt is made to observe the relative pose of robot and target, all control actions are based on immediate visual information.
Journal ArticleDOI
A linearizing feedback for stabilizing a car-like robot following a curvilinear path
TL;DR: In this paper, a new canonical change of variables is suggested, which reduces the problem of stabilizing robot's motion to that of stability of the zero solution of the transformed system in the form that admits feedback linearization.