Robot Motion Planning and Control - J P Laumond Part 6 ppsx
Robot Motion Planning and Control - J.P. Laumond Part 6 ppsx
... varies in [-Tr, ~] the partition of planes P0 induces a partition of R 2 x [-r, ~r]. Identifying the planes P_ ~ and P, we obtain a partition of the configuration space R 2 x S 1. In most part of ... Mobile Robots 133 4.IJ ( ~-, ~ :.q J ). 44 - ~ r~,, + 1_ I ,-, '~. (~,',, ,-, ~ r'7.,, t " ;-~ .,.;,~ ~,) 0=0 + ,'< ;J: ~l:l/iz, t,~,-I...
Ngày tải lên: 10/08/2014, 02:21
Robot Motion Planning and Control - J.P. Laumond Part 3 pps
... (2), pp. 36 7-3 93, 1990. 66 . J. Reif and H. Wang, "Non-uniform discretization approximations for kinody- namic motion planning and its applications," Algorithms for Robotic Motion and ... the complexity of motion plan- ning for multiple independent objects: PSPACE-hardness of the warehouseman's problem," International Journal of Robotics Research, V...
Ngày tải lên: 10/08/2014, 02:21
Robot Motion Planning and Control - J.P. Laumond Part 4 pps
... Bellaiche and J J. Risler Ed., Progress in Mathe- matics, Birkh~user, 19 96. 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,...
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Robot Motion Planning and Control - J.P. Laumond Part 7 pps
... 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, we have proven that the dis- tance ... ¢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...
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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
... chained-form system (7) with output ( 46) into the input- output linear and decoupled system IX~n 1)l [ rl ] z(n-1) = { (n-l)! = = r. Since the number of the input-output integrators (2(n - 1)) ... 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 this pro...
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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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Robot Motion Planning and Control - J.P. Laumond Part 11 ppt
... such planners are the probabilistic path planner (PPP) and the randomized path planner (RPP). RPP [5,17] is a potential field planner, that escapes local minima by per- forming Brownian motions. ... Fi- nally, extensions of PPP addressing multi -robot path planning problems have been presented in [ 46, 48]. In this chapter an overview is given of the algorithmic aspects of PPP...
Ngày tải lên: 10/08/2014, 02:21