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Robot Motion Planning and Control

  • Book
  • © 1998

Overview

Editors:
  1. J. -P. Laumond
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 229)

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Table of contents (6 chapters)

  1. Front Matter

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  2. Guidelines in nonholonomic motion planning for mobile robots

    • J. P. Laumond, S. Sekhavat, F. Lamiraux
    Pages 1-53

  3. Geometry of nonholonomic systems

    • A. Bellaïche, F. Jean, J. -J. Risler
    Pages 55-91

  4. Optimal trajectories for nonholonomic mobile robots

    • P. Souères, J. -D. Boissonnat
    Pages 93-170

  5. Feedback control of a nonholonomic car-like robot

    • A. De Luca, G. Oriolo, C. Samson
    Pages 171-253

  6. Probabilistic path planning

    • P. Švestka, M. H. Overmars
    Pages 255-304

  7. Collision detection algorithms for motion planning

    • P. Jiménez, F. Thomas, C. Torras
    Pages 305-343

  8. Back Matter

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Keywords

About this book

How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths; feedback control for nonholonomic mobile robots; probabilistic algorithms and new motion planning approaches; and a survey of recent techniques for dealing with collision detection.

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