DocumentCode
2344570
Title
Constrained robot motion planning: Imbalanced Jacobian algorithm vs. optimal control approach
Author
Janiak, Mariusz ; Tchon, Krzysztof
Author_Institution
Inst. of Comput. Eng., Control & Robot., Wroclaw Inst. of Technol., Wrocław, Poland
fYear
2010
fDate
23-26 Aug. 2010
Firstpage
25
Lastpage
30
Abstract
We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.
Keywords
mobile robots; optimal control; path planning; constrained robot motion planning; imbalanced Jacobian motion planning algorithm; nonholonomic robotic systems; optimal control approach; unicycle-type mobile robot; Heuristic algorithms; Jacobian matrices; Mobile robots; Optimal control; Optimization; Planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2010 15th International Conference on
Conference_Location
Miedzyzdroje
Print_ISBN
978-1-4244-7828-6
Type
conf
DOI
10.1109/MMAR.2010.5587270
Filename
5587270
Link To Document