
Robot Motion Planning and Control
Jean-Paul Laumond(Editor)
Springer (Publisher)
Published on 13. November 1997
Book
Paperback/Softback
XII, 347 pages
978-3-540-76219-5 (ISBN)
Description
How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths; feedback control for nonholonomic mobile robots; probabilistic algorithms and new motion planning approaches; and a survey of recent techniques for dealing with collision detection.
More details
Series
Edition
1998 ed.
Language
English
Place of publication
Berlin
Germany
Publishing group
Springer Berlin
Target group
Professional and scholarly
Research
Illustrations
162 s/w Abbildungen
XII, 347 p. 162 illus.
Dimensions
Height: 235 mm
Width: 155 mm
Thickness: 20 mm
Weight
546 gr
ISBN-13
978-3-540-76219-5 (9783540762195)
DOI
10.1007/BFb0036069
Schweitzer Classification
Content
Guidelines in nonholonomic motion planning for mobile robots.- Geometry of nonholonomic systems.- Optimal trajectories for nonholonomic mobile robots.- Feedback control of a nonholonomic car-like robot.- Probabilistic path planning.- Collision detection algorithms for motion planning.