Optimization of collision-free paths in a differential-drive robot by a smoothing piecewise-linear approach

DOI10.1007/s40314-018-0602-xzbMath1432.70026OpenAlexW2790903827WikidataQ130116015 ScholiaQ130116015MaRDI QIDQ1993483

Hector Vazquez-Leal, Jose A. Martinez-Melchor, Víctor-M. Jimenez-Fernández, U. A. Filobello-Nino

Publication date: 5 November 2018

Published in: Computational and Applied Mathematics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s40314-018-0602-x

zbMATH Keywords

smoothpiecewise-linearpath optimizationradius of curvaturedifferential-drive robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Approximate trajectories (pseudotrajectories, shadowing, etc.) in smooth dynamics (37C50) Artificial intelligence for robotics (68T40)

Cites Work

• Robot motion planning with uncertainty in control and sensing
• A generalized canonical piecewise-linear representation
• Canonical piecewise-linear representation
• A global representation of multidimensional piecewise-linear functions with linear partitions
• A canonical representation for piecewise-affine maps and its applications to circuit analysis
• High-level canonical piecewise linear representation using a simplicial partition
• Planning Algorithms

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