J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," in IEEE Transactions on Robotics and Automation, vol. 10, 1994, pp. 577--593.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....obstacles in the environment. The first fundamental result in motion planning for car like systems was derived by Reeds and Shepp [10] Building on the work of Dubins [11] they showed that minimum distance trajectories for a car are composed of straight lines and circular arcs. Laumond et al. [12] proposed an efficient algorithm for planning near minimum distance trajectories for a car moving among obstacles. Their planning problem is divided into three stages: a) find the holonomic path that avoids all obstacles; b) find the nearest path that also satisfies the nonholonomic ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 577--593, 1994.

....and kinodynamic constraints. 2.6 Kinematic and dynamic constraints Kinodynamic motion planning refers to problems in which the robot s motion must satisfy nonholonomic and or dynamic constraints. Planning for nonholonomic robots has attracted considerable interest (e.g. BL89, Lau86, LCH89, LJTM94, LM96, SO94, S SLO97] One approach [Lau86, LJTM94] is to first generate a collisionfree path, ignoring the nonholonomic constraints, and then break this path into small pieces and replace them by admissible canonical paths (e.g. Reeds and Shepp curves [RS90] An extension is to perform ....

....constraints Kinodynamic motion planning refers to problems in which the robot s motion must satisfy nonholonomic and or dynamic constraints. Planning for nonholonomic robots has attracted considerable interest (e.g. BL89, Lau86, LCH89, LJTM94, LM96, SO94, S SLO97] One approach [Lau86, LJTM94] is to first generate a collisionfree path, ignoring the nonholonomic constraints, and then break this path into small pieces and replace them by admissible canonical paths (e.g. Reeds and Shepp curves [RS90] An extension is to perform successive path transformations of various types [Fer98, ....

[Article contains additional citation context not shown here]

J.-P. Laumond, P.E. Jacobs., M. Tax., and R.M. Murray. A motion planner for nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 10(5):577--593, 1994.

.... take into account geometric constraints such as joint limits and obstacles, but also constraints arising from kinematics such as nonholonomic velocity constraints due to the rolling without slipping of wheeled mobile robots [11] or constraints over the radius of curvature of a car like system [12]. Robotics work has also considered several aspects of dealing with physical constraints during planning. The study of dynamics and control have guided the design of modern robots and is an area of active research [17] Furthermore, the complexity of certain problems that cou pie planning and ....

J. Laumond, P. Jacobs, M. Taix, and R. Murray. A motion planner for nonholonomic mobile robots. IEEE Tr. on Rob. and Aurora., 10:577-593, 1994.

....and control techniques. The nonlinear character of the problem adds further di#culty to this. Finally, for nonholonomic systems nonholonomic constraints have to be taken into account, so that the generated path from the admissible configuration space corresponds to a feasible trajectory [22] [13]. This paper introduces an approach for trajectory optimization based on information gain. A mobile robot is moving in the Cartesian plane starting from an initial configuration to a desired goal configuration which has to be reached with maximum accuracy. While moving around, the robot can make ....

J.-P. Laumond, P. Jacobs, M. Ta ix, and R. Murray, A motion planner for nonholonomic mobile robots, IEEE Trans. on Robotics and Automation 10 (1994), no. 5, 577--592.

....class without passing through an obstacle. An initial guess that belongs to one homotopy class will never converge to a solution in another homotopy class. The approach adopted here is in many ways superior to others discussed in the literature. The work that is closest in flavor is reported in [21, 22]. There, the planning problem is divided into three stages: a) Find the holonomic path amid obstacles; b) Find the nearest path that also satisfies the nonholonomic constraints; and (c) Optimize the obtained path. In our method, we concurrently solve the two stages (b) and (c) Fur ther, we do ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray. A motion planner for nonholonomic mobile robots. IEEE Transactions on Robotics and Automa- tion, 10(5):577 593, 1994.

....systems has been addressed in [10] A funda mental result for car like systems was derived by Reeds and Shepp [11] Building on the work of Dubins [12] they have showed that minimum distance trajectories for a car are composed of circular arcs and straight lines. Using this result, Laumond et al. [13] have proposed an efficient algorithm for planning near minimum distance trajectories for a car moving among obstacles. Fernandes et al. 14] use optimal con trol methods to find trajectories that minimize the L2 norm of the input vector. They use Ritz method to approximate the solution with a ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Tcansactions on Robotics and Automation, vol. 10, no. 5, pp. 577 593, 1994.

....one of these works generating continuous curvature paths for car like vehicles [9] To the best of our knowledge, only two works considered continuity of the curvature as a constraint added to the motion planning problem, and searched optimal paths for the new planning problem. The first one [8] is designed for a manoeuvrable robot called tillare 2, while the sec ond [14] focussed on car like vehicles. The paths generated are made of pieces of clothold and anti clothoid 3 in the first case, and made of pieces of clothoid (including line segments) and of circular arcs of minimum radius ....

....car like vehicles while those without bounded turning radius are called ma noeuvrable robots. This article shows how sub optimal continuouscurvature paths for car like vehicles can be used to define high velocity trajectories for manoeuvrable robots. A first case, considered by Laumond et al. [8], is quickly recalled. A second case is described more precisely: optimal trajectories are proved to use paths similar to those optimal for car like vehicles, and thus a continuous curvature path planner for car like vehicles is used to generate smooth trajectories which can be followed with a ....

J.-P. Laumond, P. E. Jacobs, M. TaYx, and R. M. Murray. A motion planner for non-holonomic mobile robots. IEEE Trans. Robotics and Automation, 10(5):577 593, October 1994.

....is a robot arm mounted on a nonholonomic wheeled cart. Such a system of mobile manipulators can grasp and transport large objects without special purpose fixtures. In recent years, many researchers have investigated the motion planning of nonholonomic systems, includ ing car like systems [1], probabilistic road maps [2] and satellites [3] The optimal control inputs can be explic itly derived for a class of nonholonomic systems that can be converted to the so called chained form [4, 5] It is useful to treat the motion planning of wheeled systems by reducing the dynamics to the ....

....inputs as linear combinations of smooth orthog onal basis functions [9] However, none of these pa pers address motion planning with obstacles and with state constraints. An efficient algorithm for planning near minimum distance trajectories for a car moving among obstacles is proposed in [1]. However this al gorithm cannot be easily extended to systems in which dynamic considerations are important. In this paper, we consider the generation of optimal continuous motion plans at all the three levels while accommodating geometric, kinematic and dynamic constraints. The plans are ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Mur- ray, "A motion planner for nonholonomic mobile robots," 2We gratefully acknowledge discussions on the numerical method with Dr. Milos Zefran and Professor Jim Ostrowski. IEEE Tcans, on Robotics and Automation, vol. 10, no. 5, pp. 577 593, 1994.

....systems has been addressed in [10] A funda mental result for car like systems was derived by Reeds and Shepp [11] Building on the work of Dubins [12] they have showed that minimum distance trajectories for a car are composed of circular arcs and straight lines. Using this result, Laumond et al. [13] have proposed an efficient algorithm for planning near minimum distance trajectories for a car moving among obstacles. Fernandes et al. 14] use optimal con trol methods to find trajectories that minimize the L2 norm of the input vector. They use Ritz method to approximate the solution with a ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Tcansactions on Robotics and Automation, vol. 10, no. 5, pp. 577 593, 1994.

....the methods accommodate geometric constraints as well as holonomic kinematic constraints, they do not lend themselves to nonholonomic and dynamic constraints. However, it is possible to refine a path that satisfies all geometric constraints so that it is consistent with nonholonomic constraints [17]. Thus, it is not diiticult to imagine a two step planning process in which one first finds a suitable initial plan in the configuration space (joint space) without worrying about nonholonomic kinematic constraints and the dynamics of the system, and then develops a more realistic plan that ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 577-593, 1994.

....controllability of a mobile robot results from its ability to reverse directions; for a pushed object, it results from changing pushing edges. If an object is small time locally controllable by stable pushing, we can adapt path planning algorithms for mobile robots to find pushing plans [23] [24]. III. Definitions The straight edge robot pusher is called the pusher and the pushed object is called the slider . The slider is pushed across a horizontal support plane. We assume that the slider s motion is sufficiently slow that inertial forces are negligible compared to sliding friction. ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 577--593, Oct. 1994.

.... about the structure of the system can be used to perform a principled discretization of the control space (based on a critical decomposition or extremal controls) resulting in more efficient planners (e.g. the shortest path information used in the mobile robot path planner of (Laumond et al. [14]) 3) Gradient descent algorithms attempt to use smoothness in the input output map to speed convergence to a solution. Typically a finite dimensional parameterization of the control is chosen (for instance using Fourier bases, polynomials, splines, or piecewise constant functions) and the ....

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray. A motion planner for nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 10(5):577--593, Oct. 1994.

....is the holonomic nature of the path which usually makes it infeasible for the nonholonomic robot. What is more, this approach completely excludes the possibility of replanning the motion in real time to address the issue of navigating in dynamic environments. In the two stage approach followed in [14] collision avoidance is pursued through refining the discretization of the previously computed holonomic path. This paper addresses the above problem for the case of unicycle type mobile robots and presents a methodology with provable global convergence properties. Planning of motion is realized ....

Laumond J.P., Jacobs P.E., Taix M., and Murray R.M., "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics & Automation, vol. 10, no. 5, pp. 577--593, Oct. 1994.

....refers to problems in which the robot s motion must satisfy nonholonomic and dynamic constraints. With few exceptions (e.g. Fra99] previous work has considered these two types of constraints separately. Planning for nonholonomic robots has attracted considerable interest [BL93, Lau86, LJTM94, LCH89, LM96, S SLO97, SO94] One approach [Lau86, LJTM94] is to first generate a collisionfree path, ignoring the nonholonomic constraints, and then to break this path into small pieces and replace them by admissible canonical paths (e.g. Reeds and Shepp curves [RS90] The two stage ....

....nonholonomic and dynamic constraints. With few exceptions (e.g. Fra99] previous work has considered these two types of constraints separately. Planning for nonholonomic robots has attracted considerable interest [BL93, Lau86, LJTM94, LCH89, LM96, S SLO97, SO94] One approach [Lau86, LJTM94] is to first generate a collisionfree path, ignoring the nonholonomic constraints, and then to break this path into small pieces and replace them by admissible canonical paths (e.g. Reeds and Shepp curves [RS90] The two stage algorithm can be extended in various ways, which are all based on ....

J-P. Laumond, P. E. Jacobs., M. Tax., and R. M. Murray. A motion planner for nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 10(5):577--593, 1994.

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J.P. Laumond, P.E. Jacobs, M. Taix and R.M. Murray, A Motion planner for nonholonomic mobile robots, IEEE Trans. on Robotics and Automation., 10(5):577-593, 1994.

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J-P. Laumond, P. Jacobs, M. Taix, and R. M. Murray. A motion planner for nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 1992. (to appear).

....and practical considerations. First of all, it has been proved that a collision free admissible path exists iff there exists a collision free admissible path of type SA [13] Moreover, most of the existing complete motion planners for mobile robots provide solution paths of the type SA (e.g. [14], 11] 20] 16] Finally geometric algorithms like boolean operations or swept volume computations are simple and computationally efficient when dealing with arcs of circle and straight line segments. B. Traces A mobile robot path being given, a trace is the volume swept by the robot when ....

....up to 8 robots. 32 rob. 150 rob. Interaction graph computation and bounding box representation 30s 240s of the diagrams Diagram refinement 6s 13s Search 3:7s 1:5s 7 The motion planner computing an admissible collision free path for each robot is based on the algorithm presented in [14]. a) b) Fig. 15. A case with 32 robots: the robots traces (a) and the 496 elementary diagrams. The partition into the 8 robot subgroups is illustrated by the 8 bold triangles. We should note that the performance depends on the decomposition of the interaction graph into connected components. ....

J.P. Laumond, P. Jacobs, M. Taix & R. Murray. A Motion Planner for Non Holonomic Mobile Robots. IEEE Transactions on Robotics and Automation, vol. 10, no. 5, pp. 577-593, 1994.

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J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," in IEEE Transactions on Robotics and Automation, vol. 10, 1994, pp. 577--593.

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J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," in IEEE Transactions on Robotics and Automation, vol. 10, pp. 577--593, 1994.

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J.-P. Laumond, P. Jacobs, M. Tax, R. Murray, A motion planner for nonholonomic mobile robots, IEEE Transactions on Robotics and Automation 10 (5) (1994) 577--592.

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J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray. A motion planner for nonholonomic mobile robots. IEEE Trans. Robot. & Autom., 10(5):577-- 593, October 1994.

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J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," in IEEE Transactions on Robotics and Automation, vol. 10, 1994, pp. 577--593.

No context found.

J.-P. Laumond, P. E. Jacobs, M. Taix, and R. M. Murray, "A motion planner for nonholonomic mobile robots," in IEEE Transactions on Robotics and Automation, vol. 10, pp. 577--593, 1994.

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J-P. Laumond, M. Taix, P. Jacobs, and R.M. Murray. A motion planner for nonholonomic mobile robots. IEEE Trans. on Robotics and Automation, 1993.

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J.P. Laumond, P.E. Jacobs, M. Taix, and R.M. Murray, "A motion planner for nonholonomic mobile robots," IEEE Transactions on Robotics & Automation, vol. 10, no. 5, pp. 577--593, Oct. 1994.

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