OTHER
Flatness and small-time controllability of multibody mobile robots: Application to motion planning
Florent Lamiraux, Jean‐Paul Laumond
- Year
- 1997
- Citations
- 8
Abstract
We propose a local motion planner for a mobile robot pulling n trailers. This planner verifies a topological property so that it is suitable for different global motion planning schemes including obstacle avoidance. We use for this the differential flatness of this system.
Keywords
ControllabilityFlatness (cosmology)Motion planningMobile robotRobotComputer scienceObstaclePlannerControl theory (sociology)Motion (physics)
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