DocumentCode
700979
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
fYear
1997
fDate
1-7 July 1997
Firstpage
3246
Lastpage
3251
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082611
Link To Document