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

DOI10.1007/BF01891837zbMATH Open0779.70003OpenAlexW2059435624MaRDI QIDQ686739FDOQ686739

Authors: Jérôme Barraquand, Jean-Claude Latombe 

Publication date: 13 October 1993

Published in: Algorithmica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf01891837

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zbMATH Keywords

collision avoidanceinequality constraintspath planningequality constraintscontrollability rank condition theoremimplemented planneroptimal maneuvering

Mathematics Subject Classification ID

Computing methodologies and applications (68U99) Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05)

Cites Work

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Cited In (24)

• Motion Control of a Nonholonomic Mobile Manipulator in Task Space
• A Polynomial-Time Algorithm for Computing Shortest Paths of Bounded Curvature Amidst Moderate Obstacles
• Robust motion planning and control of mobile robots for collision avoidance in terrains with moving objects
• Robot path planning in a dynamic environment with stochastic measurements
• An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: a sum-of-squares approach
• Adaptive robust control strategy for rhombus-type lunar exploration wheeled mobile robot using wavelet transform and probabilistic neural network
• Monte Carlo algorithm for trajectory optimization based on Markovian readings
• Flatness and small-time controllability of multibody mobile robots: Application to motion planning
• Fastest motion planning for an unmanned vehicle in the presence of accelerating obstacles
• A penalized nonparametric method for nonlinear constrained optimization based on noisy data
• Trajectory tracking of wheeled mobile robots using only Cartesian position measurements
• The planning of optimal motions of non-holonomic systems
• Angle-restricted tours in the plane.
• On path following control of nonholonomic mobile manipulators
• Adaptive control system for car parking
• Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy
• Optimal trajectories of curvature constrained motion in the Hamilton-Jacobi formulation
• Title not available (Why is that?)
• Modeling parallel parking a car
• PRICING OF AMERICAN PATH-DEPENDENT CONTINGENT CLAIMS
• The jogger's problem: Control of dynamics in real-time motion planning
• Non-crossing anonymous MAPF for tethered robots
• Optimal-control approach to trajectory planning for a class of mobile robotic manipulations
• Robust contour tracking of nonholonomic mobile robots via adaptive velocity field motion planning scheme

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