Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation.
Mathieu HillionFlorent LamirauxPublished in: ICRA (2007)
Keyphrases
- angular velocity
- trajectory planning
- velocity field
- motion planning
- upper bound
- mobile robot
- kinematic model
- lower bound
- feedback control
- path planning
- reference trajectory
- control law
- upper and lower bounds
- robot manipulators
- constant velocity
- lower and upper bounds
- deformable objects
- obstacle avoidance
- error bounds
- worst case
- image registration
- autonomous control
- closed loop
- optical flow
- vc dimension
- tracking control
- control system