Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets.
Andrei A. FurtunaWenyu LuWeifu WangDevin J. BalkcomPublished in: IROS (2011)
Keyphrases
- mobile robot
- motion control
- kinematic model
- parallel manipulator
- control system
- unit length
- three dimensional
- robotic systems
- robot control
- path planning
- autonomous robots
- wheeled mobile robots
- obstacle avoidance
- moving objects
- control strategy
- robot motion
- real numbers
- autonomous navigation
- visual servoing
- motion planning
- mechanical systems
- unstructured environments
- dynamic environments
- configuration space
- end effector
- physical constraints
- optimal control
- multi robot
- degrees of freedom