Motion Planning for Drift-Free Nonholonomic Systems under a Discrete Levels Control Constraint.
Photis G. SkiadasNick T. KoussoulasPublished in: J. Intell. Robotic Syst. (2001)
Keyphrases
- motion planning
- mechanical systems
- trajectory planning
- robotic arm
- degrees of freedom
- path planning
- mobile robot
- robot arm
- robotic tasks
- humanoid robot
- inverse kinematics
- control system
- configuration space
- control law
- obstacle avoidance
- manipulation tasks
- autonomous mobile robot
- kinematic model
- feedback control
- multi robot
- tracking control