How to implement dynamic paths

被引：0
|
作者：
Khatib, M [1 ]
Jaouni, H [1 ]
Chatila, R [1 ]
Laumond, JP [1 ]
机构：
[1] CNRS, Automat & Anal Syst Lab, F-31077 Toulouse 4, France
来源：
EXPERIMENTAL ROBOTICS V | 1998年 / 232卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Sensor-based dynamic path modification is one of powerful issues to combine planning and reactive control. This paper treats problems related to flexible trajectories implementation and presents solutions to connect functional levels from the planning to the execution. A general dynamic path structure is proposed and discussed including execution needs and constraints. Implementation algorithms are then developed and presented for general metrics and execution contexts. Finally, solutions for car-like mobile robots are encapsulated in a complete system joining these different levels and mange there functional coherence.
引用
收藏
页码：289 / 300
页数：12
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