Robot Motion Planning and Control - J P Laumond Part 4 pps
Robot Motion Planning and Control - J.P. Laumond Part 4 pps
... Bellaiche and J J. Risler Ed., Progress in Mathe- matics, Birkh~user, 1996. 3. A. Beltaiche, J P. Laumond and J. Jacobs, "Controllability of car-like robots and complexity of the motion planning ... Set Q1 = PtOQ/OX1 + + P, OQ/OXn Q2 = PIOQ1/OX1 + + PnOQ1/OX~ Q~-I = PIOQn-2/OX1 + + PnOQn_2/OXn (i.e., Qo = Q and Qi =< P, gradQi-1 >= ~j= IPjOQi-1/OXj, f...
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Robot Motion Planning and Control - J.P. Laumond Part 3 pps
... kinodynamic planning in the plane," Discrete and Computational Geometry, Vol. 6, pp. 46 1 -4 84, 1991. 20. B. Donald, P. Xavier, J. Canny and J. Reif, "Kinodynamic motion planning, " J. of ... motion planning for a nonholonomic mobile robotwith trailers," 4th IFAC Syrup. on Robot Control, pp. 17 1-1 77, Capri, 19 94. 50. J. P. Laumond and...
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Robot Motion Planning and Control - J.P. Laumond Part 6 ppsx
... Mobile Robots 133 4. IJ ( ~-, ~ :.q J ). 44 - ~ r~,, + 1_ I ,-, '~. (~,',, ,-, ~ r'7.,, t " ;-~ .,.;,~ ~,) 0=0 + ,'< ;J: ~l:l/iz, t,~,-I . -~ "" Z-d 'T~L ... ¢&apos ;-& apos;) ( x,&apos ;J: J, ~:, ,- J, 'z+~ ,-~ ,._ xl** VY;I'zA _ /, ,,~ .,+,. ~, ,.;., NZ,2+.~.'r",#/ t 1 \ 4 i/ 1'...
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Robot Motion Planning and Control - J.P. Laumond Part 7 pps
... 4 = -, k sin(O- ¢) ~; -~ cos( 0- ¢) 4 AI¢ 2 sin(0 - ¢) + (¢3 t¢ + 4 v + ¢o) v. 150 P. Sou~res and J D. Boissonnat - LSR Z~&apos ;-~ LSL 4 ~ RSL Zo/ l Fig. 22. Partition of P~ of/)2 ... been possible to determine a dis- tance function providing a topological analysis of the path planning problem. In particular, for the Reeds and Shepp problem...
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Robot Motion Planning and Control - J.P. Laumond Part 14 pps
... Sys. 8 (1) pp. 3 9-5 4 (1991). 40 . T. Lozano -P6 rez, "Spatial planning: a configuration space approach" in IEEE Trans. Comput. 32 (2) pp. 10 8-1 20 (Feb., 1983). 41 . T. Lozano -P6 rez, "A ... Lozano -P6 rez, "A simple motion- planning algorithm for general robot manip- ulators" in IEEE J. Robotics Automat. 3 (3) pp. 22 4- 2 38 (June, 1987). 42 ....
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Robot Motion Planning and Control - J.P. Laumond Part 8 pot
... Nonholonomic Car-Like Robot 177 1.3 Open-loop vs. closed-loop control Some comments are now appropriate concerning the relationships between the planning and control phases in robot motion execution. ... input and p = 1 controlled output, implying the indirect control of n - 1 states. The trajectory tracking task is again an input-output problem with m = 2 inputs...
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Robot Motion Planning and Control - J.P. Laumond Part 9 pdf
... the path tangent. Simulation results In order to compare the performance of linear and non- linear control design, the nonlinear dynamic controller (4 3 -4 4) computed for the chained-form representation ... that the input-output response of the closed-loop system (i.e., between the new inputs r and the outputs z) is linear. In the multi-input multi-output case, the solution to...
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Robot Motion Planning and Control - J.P. Laumond Part 10 pdf
... 2 '/2(Z2, t) = E aj sin(/~jt) z2 +j j= O n-2 ~/3(Z2, t) = ~ aj exp(bjz2 +j) - 1 sin(f/it), j= o exp(bjz2 +j) -+ 1 (71) (72) (73) Feedback Control of a Nonholonomic Car-Like Robot ... ~'1 = Ul Z'2 = Ul Z3 ~j+ 3 = -k~+lulzj+2 + ulzj +4, Zn ~ ]gn 21$1Zn 1 -[ -W2, j =0, ,n -4 , (62) Feedback Control of a Nonholonomic Car-Like Robot 221 z~...
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