Terrain-adaptive generation of optimal continuous trajectories for mobile robots

European Space Agency, (Special Publication) ESA SP

Volumn , Issue 603, 2005, Pages 675-682

  Howard, Thomas M ^a   Kelly, Alonzo ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COSTS; FEEDBACK CONTROL; KINEMATICS; LINEARIZATION; MOTION COMPENSATION; OPTIMIZATION; TRAJECTORIES;

ARBITRARY CONSTRAINTS; EXECUTION PHASE; MOTION PREDICTION;

MOBILE ROBOTS;

EID: 28744448709     PISSN: 03796566     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Article

References (9)

1. Kelly, A., and Nagy, B., "Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control", International Journal of Robotics Research, Vol. 22, No. 7-8, 583-601 (2003).
2. st, 2005.
3. th, 2001.
4. Johannes Reuter, "Mobile Robot Trajectories with Continuously Differentiable Curvature: An Optimal Control Approach", Proceedings of the 1998 IEEE/RSJ Conference on Intelligent Robots and Systems, Victoria, B.C., Canada, October 1998.
5. H. Delingette, M. Herbert, and K Ikeuchi, "Trajectory Generation with Curvature Constrained based on Energy Minimization", Proc, IROS, pp 206-211, Osaka, Japan, 1991.
6. Shin, D.H., Singh, S., "Path Generation for Robot Vehicles Using Composite Clothoid Segments" tech. report CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December 1990.
7. Tarokh, M., McDermott, G., "Kinematics Modeling and Analyses of Articulated Rovers." Technical Report No. CS/10/2005, January, 2005.
8. M. Cherif, J. Ibanez-Guzman, Ch. Laugier, and T. Goh, "Motion Planning for an All-Terrain Autonomous Vehicle", Int. Conf. on Field and Service Robotics, Pittsburgh, PA, USA, August, 1999
9. Kim, S.K.; Tilbury, D.M., "Trajectory generation for a class of nonlinear systems with input and state constraints", American Control Conference, 2001.