Title :
Flatness and small-time controllability of multibody mobile robots: Application to motion planning
Author :
Lamiraux, F. ; Laumond, J.P.
Author_Institution :
LAAS, Toulouse, France
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 :
collision avoidance; controllability; mobile robots; global motion planning schemes; local motion planner; multibody mobile robot flatness; multibody mobile robot small-time controllability; obstacle avoidance; trailers; Collision avoidance; Controllability; Mobile robots; Planning; Polynomials; Robot kinematics;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
