Motion Planning for Kinematic Systems

被引：11

作者：

Boizot, Nicolas ^{[1
]}

Gauthier, Jean-Paul ^{[2
]}

机构：

[1] Aix Marseille Univ, LSIS, CNRS, LSIS,ENSAM,UMR 7296, F-13397 Marseille, France

[2] Univ Toulon & Var, CNRS, LSIS, UMR 7296, F-83957 La Garde, France

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2013年 / 58卷 / 06期

关键词：

Motion planning; optimal control; robotics; subriemannian geometry;

D O I：

10.1109/TAC.2012.2232376

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a general theory of motion planning for kinematic systems. In particular, the theory deals with epsilon-approximations of non-admissible paths by admissible ones in a certain optimal sense. The need for such an approximation arises for instance in the case of highly congested configuration spaces. This theory has been developed by one of the authors in a previous series of papers. It is based upon concepts from subriemannian geometry. Here, we summarize the results of the theory, and we improve on, by developing in details an intricate case: the ball with a trailer, which corresponds to a distribution with flag of type 2, 3, 5, 6.

引用

页码：1430 / 1442

页数：13

共 50 条

[1] Exact Motion Planning Solution for Principally Kinematic Systems
Shammas, Elie
de Oliveira, Mauricio
[J]. 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, : 4329 - 4334
[2] A QP-BASED APPROACH TO KINEMATIC MOTION PLANNING OF MULTIBODY SYSTEMS
Kim, Junggon
Mukherjee, Rudranarayan
[J]. INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 6, 2016,
[3] Kinematic controllability and motion planning for the snakeboard
Bullo, F
Lewis, AD
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (03): : 494 - 498
[4] A New Trajectory Planning Approach With Motion Duration Control for Kinematic Constrained Systems
de Andrade Both, Lucas
Lange, Felix
[J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2024, 9 (01) : 467 - 474
[5] MOTION PLANNING FOR A MOBILE ROBOT WITH A KINEMATIC CONSTRAINT
TOURNASSOUD, P
[J]. LECTURE NOTES IN COMPUTER SCIENCE, 1989, 391 : 150 - 171
[6] Motion Planning for a Wheeled Robot (Kinematic Approximation)
V. B. Larin
[J]. International Applied Mechanics, 2005, 41 : 187 - 196
[7] Motion planning for a wheeled robot (kinematic approximation)
Larin, VB
[J]. INTERNATIONAL APPLIED MECHANICS, 2005, 41 (02) : 187 - 196
[8] Kinematic Graph for Motion Planning of Robotic Manipulators
Corves, Burkhard
Shahidi, Amir
[J]. ROBOTICS, 2022, 11 (05)
[9] MOTION PLANNING FOR A MOBILE ROBOT WITH A KINEMATIC CONSTRAINT
TOURNASSOUD, P
[J]. GEOMETRY AND ROBOTICS, 1989, 391 : 150 - 171
[10] Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map
Park, Wooram
Liu, Yan
Zhou, Yu
Moses, Matthew
Chirikjian, Gregory S.
[J]. ROBOTICA, 2008, 26 : 419 - 434

← 1 2 3 4 5 →