Optimal-control approach to trajectory planning for a class of mobile robotic manipulations

DOI10.1007/S10665-009-9356-1zbMath1310.70011OpenAlexW2038641877MaRDI QIDQ718915

Shahram Payandeh, Qingguo Li

Publication date: 27 September 2011

Published in: Journal of Engineering Mathematics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10665-009-9356-1

zbMATH Keywords

optimal controlswitched controlleroptimal trajectorypush planningrobotic manipulation

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Optimal synthesis in the Reeds and Shepp problem with a free final direction ⋮ Optimal synthesis in the Reeds and Shepp problem with onesided variation of velocity

Cites Work

• Unnamed Item
• Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles
• Shortest paths of bounded curvature in the plane
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• Shortest paths synthesis for a car-like robot

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