Exact Minimum Control Switch Motion Planning for the Snakeboard

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2003, Pages 1437-1443

  Iannitti, Stefano ^a   Lynch, Kevin M ^a  

^a Northwestern University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTATIONAL METHODS; CONSTRAINT THEORY; CONTROLLABILITY; KINEMATICS; NUMERICAL METHODS; ROBOTICS; ROTORS; TORQUE; TRAJECTORIES;

PROBABILISTIC ROADMAP (PRM) MOTION PLANNER; VECTOR FIELDS;

MOTION PLANNING;

EID: 0347409508     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (23)

1. D. J. Balkcom and M. T. Mason, "Time optimal trajectories for differential drive vehicles," International Journal of Robotics Research, vol. 21, no. 3, pp. 199-217, March 2002.
2. J. E. Bobrow, S. Dubowsky, and J. S. Gibson, "Time-optimal control of robotic manipulators along specified paths," International Journal of Robotics Research, vol. 4, no. 3, pp. 3-17, 1985.
3. F. Bullo and A. D. Lewis, "Kinematic controllability and motion planning for the snakeboard," to appear in IEEE Trans. on Robotics and Automation, 2003.
4. F. Bullo, A. D. Lewis, and K. M. Lynch, "Controllable kinematic reductions for mechanical systems: Concepts, computational tools, and examples," 2002 Int. Symp. on Mathematical Theory of Networks and Systems (MTNS 2002), Notre Dame, IL, USA, 2002.
5. F. Bullo and K. M. Lynch, "Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems," IEEE Trans. on Robotics and Automation, vol. 17, no. 4, pp. 402-412, 2001.
6. F. Bullo and M. Zefran, "On mechanical control systems with nonholonomic constraints and symmetries," Systems and Control Letters, vol. 45, no. 2, pp. 133-143, Jan. 2002.
7. P. Choudhury and K. M. Lynch, "Trajectory planning for kinematically controllable underactuated mechanical systems," Fifth Workshop on the Algoritlunic Foundations of Robotics, Nice, France, December 2002.
8. L. E. Dubins, "On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents," American J. of Mathematics, vol. 79, pp. 497-516, 1957.
9. J.-P. Laumond and P. E. Jacobs and M. Taïx and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 577-593, October 1994.
10. A. D. Lewis, "When is a mechanical control system kinematic?," IEEE 38th Conf. on Decision and Control, Phoenix, AZ, pp. 1162-1167, 1999.
11. A. D. Lewis, "Simple mechanical control systems with constraints," IEEE Trans. on Automatic Control, vol. 45, no. 8, pp. 1420-1436, 2000.
12. G. Liu and Z. Li, "A unified geometric approach to modeling and control of constrained mechanical systems," IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 574-587, August 2002.
13. K. M. Lynch, N. Shiroma, H. Arai, and K. Tanie, "Collision free trajectory planning for a 3-DOF robot with a passive joint," Int. J. of Robotics Research, vol. 19, no. 12, pp. 1171-1184, 2000.
14. R. M. Murray and S. S. Sastry, "Nonholonomic motion planning: Steering using sinusoids," Trans. on Automatic Control, vol. 38, n. 5, pp. 700-716, 1993.
15. J. Ostrowski, A. Lewis, R. Murray, and J. Burdick, "Nonholonomic mechanics and locomotion: the Snakeboard example," IEEE Intl. Conf. on Robotics and Automation, San Diego, pp. 2391-2400, 1994.
16. J. Ostrowski and J. Burdick, "Controllability tests for mechanical systems with constraints and symmetries," J. of Applied Mathematics and Computer Science, vol. 7, no. 2, pp. 101-127, 1997.
17. J. Ostrowski and J. Burdick, "The geometric mechanics of undulatory robotic locomotion," Int. J. of Robotics Research, vol. 17, no. 7, pp. 683-701, 1998.
18. J. Ostrowski, "Steering for a class of dynamic nonholonomic systems," IEEE Trans. on Automatic Control, vol. 45, no. 8, pp. 1492-1497, 2000.
19. J. Ostrowski, J.P. Desai, and V. Kumar, "Optimal gait selection for nonholonomic locomotion systems," Int. J. of Robotics Research, vol. 19, no. 3, pp. 225-237, 2000.
20. J. A. Reeds and R. A. Shepp, "Optimal paths for a car that goes both forwards and backwards," Pacific J. of Mathematics, vol. 145, no. 2, 1990.
21. K. G. Shin and N. D. MCKay, "Minimum-time control of robotic manipulators with geometric path constraints," IEEE Transactions on Automatic Control, vol. 30, no. 6, pp. 531-541, 1985.
22. P. Souères P. and J.P. Laumond, "Shortest path synthesis for a car-like robot," IEEE Trans. on Automatic Control, Vol. 30, no. 5, pp. 531-541, 1985.
23. H. J. Sussmann and W. Tang, "Shortest paths for the Reeds-Shepp car: a worked out example of the use of geometric techniques in nonlinear optimal control," Report SYCON-91-10, Rutgers University, 1991.