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
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;
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
DOI :
10.1109/MMAR.2010.5587270
