Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles

DOI10.1007/BF01891837zbMath0779.70003MaRDI QIDQ686739

Jérôme Barraquand, Jean-Claude Latombe

Publication date: 13 October 1993

Published in: Algorithmica (Search for Journal in Brave)

zbMATH Keywords

equality constraints; path planning; inequality constraints; collision avoidance; controllability rank condition theorem; implemented planner; optimal maneuvering

Mathematics Subject Classification ID

68U99: Computing methodologies and applications

70Q05: Control of mechanical systems

70B15: Kinematics of mechanisms and robots

70F25: Nonholonomic systems related to the dynamics of a system of particles

Related Items

A Polynomial-Time Algorithm for Computing Shortest Paths of Bounded Curvature Amidst Moderate Obstacles, Modeling parallel parking a car, The jogger's problem: Control of dynamics in real-time motion planning, Angle-restricted tours in the plane., PRICING OF AMERICAN PATH-DEPENDENT CONTINGENT CLAIMS

Cites Work

• Nonlinear control systems: An introduction
• Planning constrained motion
• Über Systeme von linearen partiellen Differentialgleichungen erster Ordnung
• Spatial Planning: A Configuration Space Approach
• Nonlinear controllability and observability
• Contrôlabilité des Systèmes non Linéaires
• Nonlinear Controllability via Lie Theory
• Controllability of nonlinear systems
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item