Bemporad, Alberto and De Luca, Alessandro and Oriolo, Giuseppe Local incremental planning for a car-like robot navigating among obstacles. In: International conference on robotics and automation. IEEE, Minneapolis, Minnesota - April 1996, pp. 1205-1211. ISBN 0-7803-2988-0 (1996)
Full text not available from this repository.Abstract
We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a least-squares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid the motion stops away from the desired goal, various force fields are considered and compared by simulation
| Item Type: | Book Section |
|---|---|
| Identification Number: | https://doi.org/10.1109/ROBOT.1996.506871 |
| Uncontrolled Keywords: | feedback; mobile robots; navigation; nonlinear systems; path planning; position control; robot kinematics |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Research Area: | Computer Science and Applications |
| Depositing User: | Professor Alberto Bemporad |
| Date Deposited: | 27 Jul 2011 09:20 |
| Last Modified: | 16 Jul 2014 13:05 |
| URI: | http://eprints.imtlucca.it/id/eprint/596 |
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