Optimal-control approach to trajectory planning for a class of mobile robotic manipulations

DOI10.1007/S10665-009-9356-1MaRDI QIDQ718915zbMATH OpenOpenAlexFDO

Authors Qingguo Li, Shahram Payandeh

Publication date 27 September 2011

Published in Journal of Engineering Mathematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s10665-009-9356-1

zbMATH Keywords

optimal controloptimal trajectorypush planningrobotic manipulationswitched controller

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 150741 (Why is no real title available?)
• Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• Shortest paths of bounded curvature in the plane
• Shortest paths synthesis for a car-like robot

Cited in

(12)

• Synthesis of an optimal control law for path tracking in mobile robots
• Optimal under-actuated kinematic motion planning on the \(\epsilon\)-group
• Optimal motion planning of robotic manipulators removing mobile objects grasped in motion
• Flatness and small-time controllability of multibody mobile robots: Application to motion planning
• scientific article; zbMATH DE number 3960373 (Why is no real title available?)
• Optimal synthesis in the Reeds and Shepp problem with a free final direction
• scientific article; zbMATH DE number 3988753 (Why is no real title available?)
• Optimal synthesis in the Reeds and Shepp problem with onesided variation of velocity
• Design of a Controlled Spatial Curve Trajectory for Robot Manipulations
• Energy-optimal trajectory planning for robot manipulators with holonomic constraints
• scientific article; zbMATH DE number 797433 (Why is no real title available?)
• Motion planning for cooperating mobile manipulators

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