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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Proceedings ArticleDOI
Path following for robotic rollators via simulated passivity
TL;DR: A path following controller that simulates passivity using a pair of active motors operating on the rear wheels of the walker that delivers high levels of comfort, does not rely on expensive hardware and preserves all the important properties of a passive mechanism.
Journal ArticleDOI
Proposed Robot Scheme with 5 DoF and Dynamic Modelling Using Maple Software
Ahmet Shala,Mirlind Bruçi +1 more
TL;DR: This paper is focused on using Denavit-Hartenberg (DH) convention for kinematics and Newton-Euler Formulations for dynamic modelling of 5 DoF - Degree of Freedom of 3D robot.
Proceedings ArticleDOI
Safe UAV navigation with sensor processing delays in an unknown environment
Sivakumar Rathinam,Raja Sengupta +1 more
TL;DR: The objective of this paper is to develop control strategies that help in keeping the UAV 'safe' and it is shown how this strategy can be coupled with other known path planning algorithms.
Proceedings ArticleDOI
Ruling the Control Authority of a Service Robot Based on Information Precision
TL;DR: The key observation is that the intervention of the system (and a good level of accuracy) is only required in proximity of difficult decision points, while the user can rely on the user in an environment where the only possibility is just to maintain a course.
Journal ArticleDOI
Robotic motion planning and manipulation in an uncalibrated environment
TL;DR: The authors analyze planning and control problems in "robotic manipulation" in an uncalibrated environment consisting of a PUMA 560 robotic manipulator, a rotating turntable equipped with an encoder and a CCD camera based vision sensor fixed permanently on the ceiling.