Dynamic Motion Planning of Autonomous Vehicles

IEEE Transactions on Robotics and Automation

Volumn 7, Issue 2, 1991, Pages 241-249

  Shiller, Zvi ^a   Gwo, Yu Rwei ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS; KINEMATICS; OPTIMIZATION; ROBOTS - MOBILE;

AUTONOMOUS VEHICLES; DYNAMIC MOTION PLANNING; PATH OPTIMIZATION; TERRAIN REPRESENTATION; VEHICLE DYNAMICS; VEHICLE KINEMATICS;

VEHICLES;

EID: 0026138938     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.75906     Document Type: Article

References (19)

1. J. E., Bobrow, S. Dubowsky, and J. S. Gibson, “Time-optimal control of robotic manipulators,” Int. J. Robotics Res., vol. 4, no. 3, 1985.
2. D. Gaw and A. Meystel, “Minimum-time navigation of an unmanned mobile robot in a 2-1/2D world with obstacles,” in Proc. IEEE Int. Conf. Robotics Automat., vol. 3, 1986, pp. 1670–1677.
3. T. J. Greattinger and B. H. Krogh, “Evaluation and time scaling of trajectories for wheeled mobile robots,” ASME J. Dynamic Syst., Measurement, Control, vol. 111, pp. 222–231, June 1989.
4. R. Hooke and T. A. Jeeves, “Direct search solution of numerical and statistical problems,” J. Assoc. Comput. J., vol. 3, pp. 212–229, 1961.
5. P. Jacobs and J. Canny, “Planning smooth paths for mobile robots,” in Proc. IEEE Int. Conf. Robotics Automat., (Scottsdale, AZ), May 1989, pp. 2–7.
6. Y. Kanayama, and B. I. Hartman, “Smooth local path planning for autonomous vehicles,” in Proc. IEEE Int. Conf. Robotics Automat., (Scottsdale, AZ), May 1989, pp. 1265–1270.
7. Y. Kanayama and S. I. Yuta, “Vehicle path specification by a sequence of straight lines,” IEEE J. Robotics Automat., vol. 4, no. 3, pp. 265–276, June 1988.
8. V. Kumar and K. J. Waldron, “Actively coordinated vehicle systems,” ASME J. Mechanisms, Transmissions, Automat. Design, vol. 111, pp. 223–231, June 1989.
9. E. L. Lawler, Combinatorial Optimization: Networks and Matroids. New York: Holt, Rinehart and Winston, 1976, pp. 98–100.
10. Z. Li and J. Canny, “Motion of two robotic bodies with rolling constraint,” IEEE Trans. Robotics Automat., vol. 6, no. 1, pp. 62–72, Feb. 1990.
11. D. G. Luenberger, Linear and Nonlinear Programming, Reading, MA: Addison-Wesley, 1984.
12. M. E. Mortenson, Geometric Modeling. New York: Wiley, 1985.
13. W, Nelson, “Continuous-curvature paths for autonomous vehicles,” in Proc. IEEE Int. Conf. Robotics Automat. (Scottsdale, AZ), May 1989, pp. 1260–1264.
14. A. M. Parodi, “Multi-goal real-time global path planning for an autonomous land vehicle using a high-speed graph, search processor,” IEEE Int. Conf. Robotics Automat., vol. 1, 1985, pp. 161–167.
15. Z. Shiller and S. Dubowsky, “On the optimal control of robotic manipulators with actuator and end-effector constraints,” in Proc. IEEE Int. Conf. Robotics Automat. (St. Louis, MO), Mar. 1985, pp. 614–620.
16. “Global time optimal motions of robotic manipulators in the presence of obstacles,” in Proc. IEEE Conf. Robotics Automat. (Philadelphia, PA), Apr. 1988, 370–375.
17. “Time optimal path planning for robotic manipulators in the presence of obstacles, with actuator, gripper and payload constraints,” Int. J. Robotics Res., vol. 8, no. 6, pp. 3–18, Dec. 1989.
18. Z. Shiller and H. H. Lu, “Robust computation of path constrained time optimal motions,” IEEE Conf. Robotics Automat. (Cincinnati, OH), May 1990, pp. 144–149.
19. J-J. E. Slotine and H. S. Yang, “Improving the efficiency of time optimal path following algorithms,” IEEE Trans. Robotics Automat., vol. 5, no. 1, pp. 118–124, Feb. 1989.