Smooth feedback for car-like vehicles in polygonal environments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 3104-3109

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

^a UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

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

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; GROUND VEHICLES; MOTION ESTIMATION; STATE SPACE METHODS;

CAR-LIKE ROBOTS; CURVATURE CONSTRAINTS; POLYGONAL ENVIRONMENTS;

FEEDBACK;

EID: 35548996927     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363944     Document Type: Conference Paper

References (21)

1. F. Aurenhammer, "Voronoi diagrams - A survey of a fundamental geometric structure," ACM Computing Surveys, vol. 23, pp. 345-405, 1991.
2. C. Belta, V. Isler, and G. J. Pappas, "Discrete abstractions for robot motion planning and control in polygonal environments," IEEE Transactions on Robotics, vol, 21, no. 5, pp. 864-874, Oct. 2005.
3. A. Bloch, J. Baillieul, P. Crouch, and J. Marsden, Nonholonomic Mechanics and Control. New York: Springer-Verlag, 2003.
4. R. A. Brooks, "Solving the find-path problem by good representation of free space," IEEE Transactions on Systems, Man, and Cybernetics, vol. 13, no. 3, pp. 190-197, 1983.
5. F. Bullo and A. D. Lewis, Geometric Control of Mechanical Systems. Berlin: Springer-Verlag, 2004.
6. D. C. Conner, A. A. Rizzi, and H. Choset, "Composition of local potential, functions for global robot control and navigation," in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 3546-3551.
7. M. Egerstedt, X. Hu, and A. Stotsky, "Control of a car-like robot using a virtual vehicle approach," in Proceedings IEEE Conference on Decision & Control, 1998, pp. 1502-1507.
8. L. C. G. J. M. Habets and J. H. van Schuppen, "Control to facet problems for affine systems on simplices and polytopes - with applications to control of hybrid systems," in Proceedings IEEE Conference on Decision & Control, and the European Control Conference, 2005.
9. J. M. Keil, "Decomposing a polygon into simpler components," SIAM Journal of Computing, vol. 14, pp. 799-817, June 1985.
10. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," International Journal of Robotics Research, vol. 5, no. 1, pp. 90-98, 1986.
11. S. R. Lindemann, I. I. Hussein, and S. M. La Valle, "Real time feedback control for nonholonomic mobile robots with obstacles," in Proceedings IEEE Conference on Decision & Control, 2006.
12. S. R. Lindemann and S. M. La Valle, "Smoomly blending vector fields for global robot navigation," in Proceedings IEEE Conference Decision & Control, 2005, pp. 3353-3559.
13. _, "A multiresolution approach for motion planning under differential constraints," in Proceedings IEEE International Conference on Robotics & Automation, 2006.
14. A. D. Luca, G. Oriolo, and C. Samson, "Feedback control of a nonholonomic car-like robot," in Robot Motion Planning and Control, J.-P. Laumond, Ed. Berlin: Springer-Verlag, 1998, pp. 171-253.
15. R. M. Murray and S. Sastry, "Nonholonomic motion planning: Steering using sinusoids," IEEE Transactions on Automatic Control, vol. 38, no. 5, pp. 700-716, 1993.
16. A. Narkhede and D. Manocha, "Fast polygon triangulation based on seidel's algorithm," in Graphics Gems V, A. Paeth, Ed. New York: Academic, 1995, pp. 394-397.
17. E. Rimon and D. E. Koditschek, "Exact robot navigation using artificial potential fields," IEEE Transactions on Robotics & Automation, vol. 8, no. 5, pp. 501-518, Oct. 1992.
18. B. Roszak and M. E. Broucke, "Necessary and sufficient conditions for reachability on a simplex," in Proceedings IEEE Conference on Decision & Control, and the European Control Conference, 2005.
19. C. Samson, "Time-varying feedback stabilization of car-like wheeled mobile robots," International Journal of Robotics Research, vol. 12, pp. 55-65, 1993.
20. H. G. Tanner, S. Loizou, and K. J. Kyriakopoulos, "Nonholonomic stabilization and collision avoidance for mobile robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, pp. 1220-1225.
21. H. G. Tanner, S. G. Loizou, and K. J. Kyriakopoulos, "Nonholonomic navigation and control of cooperating mobile manipulators," IEEE Transactions on Robotics and Automation, vol. 19, no. 1, pp. 53-64, Feb. 2003.