Smoothly blending vector fields for global robot navigation

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Volumn 2005, Issue , 2005, Pages 3553-3559

  Lindemann, Stephen R ^a   LaValle, Steven M ^a  

^a University of Illinois at Urbana Champaign   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; FUNCTIONS; INVERSE KINEMATICS; NAVIGATION SYSTEMS; ROBOTICS; VECTOR QUANTIZATION;

CONVEX POLYGONS; GLOBAL ROBOT NAVIGATION; VECTOR FIELDS;

ALGORITHMS;

EID: 33847180512     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2005.1582713     Document Type: Conference Paper

References (22)

1. D. Bertsekas. Dynamic Programming and Optimal Control: Volume I. Athena Scientific, Belmont, MA, USA, 2000.
2. J. E. Bobrow, S. Dubowsky, and J. S. Gibson. Time-optimal control of robotic manipulators along specified paths. Int. J. Robot. Res., 4(3):3-17, 1985.
3. R. R. Burridge, A. A. Rizzi, and D. E. Koditschek. Sequential composition of dynamically dexterous robot behaviors. Int. J. Robot. Res., 18(6):534-555, 1999.
4. D. C. Conner, A. A. Rizzi, and H. Choset. Composition of local potential functions for global robot control and navigation. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, pages 3546-3551, 2003.
5. J. E. Goodman and J. O'Rourke. Handbook of Discrete and Computational Geometry, Second Edition. CRC Press, Boca Raton, FL, 2004.
6. O. Khatib. Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res., 5(1):90-98, 1986.
7. D. G. Kirkpatrick. Optimal search in planar subdivisions. SIAM J. Computing, 12:28-35, 1983.
8. A. M. Ladd and L. E. Kavraki. Fast exploration for robots with dynamics. In Proc. Workshop on Algorithmic Foundation of Robotics, 2004.
9. F. Lamiraux and J.-P. Laumond. Flatness and small-time controllability of multibody mobile robots: Applications to motion planning. IEEE Transactions on Automatic Control, 45(10):1878-1881, April 2000.
10. J.-C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, Boston, MA, 1991.
11. J. P. Laumond, S. Sekhavat, and F. Lamiraux. Guidelines in nonholonomic motion planning for mobile robots. In J.-P. Laumond, editor, Robot Motion Plannning and Control, pages 1-53. Springer-Verlag, Berlin, 1998.
12. S. M. LaValle. Planning Algorithms. [Online], 2005. Available at http://msl.cs.uiuc.edu/planning/.
13. S. M. LaValle and P. Konkimalla. Algorithms for computing numerical optimal feedback motion strategies. International Journal of Robotics Research, 20(9):729-752, September 2001.
14. S. M. LaValle and J. J. Kuffner. Rapidly-exploring random trees: Progress and prospects. In B. R. Donald, K. M. Lynch, and D. Rus, editors, Algorithmic and Computational Robotics: New Directions, pages 293-308. A K Peters, Wellesley, MA, 2001.
15. T. Lozano-Pérez, M. T. Mason, and R. H. Taylor. Automatic systhesis of fine-motion strategies for robots. Int. J. Robot. Res., 3(1):3-24, 1984.
16. R. M. Murray and S. Sastry. Nonholonomic motion planning: Steering using sinusoids. Trans. Automatic Control, 38(5):700-716, 1993.
17. E. Rimon and D. E. Koditschek. Exact robot navigation using artificial potential fields. IEEE Trans. Robot. & Autom., 8(5):501-518, October 1992.
18. A. A. Rizzi. Hybrid control as a method for robot motion programming. In IEEE Int. Conf. Robot. & Autom., pages 832-837, 1998.
19. S. Sekhavat, P. Svestka, J.-P. Laumond, and M. H. Overmars. Multilevel path planning for nonholonomic robots using semiholonomic subsystems. Int. J. Robot. Res., 17:840-857, 1998.
20. K. G. Shin and N. D. McKay. Minimum-time control of robot manipulators with geometric path constraints. IEEE Trans. Autom. Control, 30(6):531-541, 1985.
21. J. N. Tsitsiklis. Efficient algorithms for globally optimal trajectories. IEEE Trans. Autom. Control, 40(9):1528-1538, September 1995.
22. S. Waydo and R. M Murray. Vehicle motion planning using stream functions. In IEEE Int. Conf. Robot. & Autom., pages 2484-2491, 2003.