Robot Motion Planning and Control (Lecture Notes in Control and Information Sciences (229))

How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths; feedback control for nonholonomic mobile robots; probabilistic algorithms and new motion planning approaches; and a survey of recent techniques for dealing with collision detection. Guidelines In Nonholonomic Motion Planning For Mobile Robots / J.p. Laumond, S. Sekhavat, F. Lamiraux -- Geometry Of Nonholonomic Systems / A. Bellaïche, F. Jean, J.-j. Risler -- Optimal Trajectories For Nonholonomic Mobile Robots / P. Souéres, J.-d. Boissonnat -- Feedback Control Of A Nonholonomic Car-like Robot / A. De Luca, G. Oriolo, C. Samson -- Probabilistic Path Planning / P. Švestka, M.h. Overmars -- Collision Detection Algorithms For Motion Planning / P. Jiménez, F. Thomas, C. Torras. J.-p. Laumond (ed.). Includes Bibliographical References. Guidelines in nonholonomic motion planning for mobile robots....Pages 1-53 Geometry of nonholonomic systems....Pages 55-91 Optimal trajectories for nonholonomic mobile robots....Pages 93-170 Feedback control of a nonholonomic car-like robot....Pages 171-253 Probabilistic path planning....Pages 255-304 Collision detection algorithms for motion planning....Pages 305-343