Optimization of collision-free paths in a differential-drive robot by a smoothing piecewise-linear approach

DOI10.1007/S40314-018-0602-XMaRDI QIDQ1993483zbMATH OpenOpenAlexWikidataFDO

Authors Jose A. Martinez-Melchor, V. M. Jiménez-Fernández, H. Vázquez-Leal, U. Filobello-Nino

Publication date 5 November 2018

Published in Computational and Applied Mathematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s40314-018-0602-x

zbMATH Keywords

smoothpiecewise-linearpath optimizationradius of curvaturedifferential-drive robot

Mathematics Subject Classification ID

Approximate trajectories (pseudotrajectories, shadowing, etc.) in smooth dynamics (37C50) Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60)

Recommendations

• Recursive method of smoothing curvature of path in path planning problems for wheeled robots
• Mobile robot path planning for fine‐grained and smooth path spcification
• Mobile robot optimal path planning based on smoothing of the A\(^*\) algorithm
• Time optimal path planning for a wheeled mobile robot
• Robot path planning in a constrained workspace by using optimal control techniques

Cites work

• A canonical representation for piecewise-affine maps and its applications to circuit analysis
• A generalized canonical piecewise-linear representation
• A global representation of multidimensional piecewise-linear functions with linear partitions
• Canonical piecewise-linear representation
• High-level canonical piecewise linear representation using a simplicial partition
• Planning Algorithms
• Robot motion planning with uncertainty in control and sensing

This page was built for publication: Optimization of collision-free paths in a differential-drive robot by a smoothing piecewise-linear approach

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1993483)