A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles - Zhihua Qu; Jing Wang; Plaisted, C.E. (IEEE transactions on robotics, 2004)
Keywords: Adjustable; Applied sciences; Artificial intelligence; Boundary conditions; Car-like robot; chained form; Changing environments; Collision avoidance; Computer science; control theory; systems; Control theory. Systems; Criteria; Exact sciences and technology; Exact solutions; Histograms; Kinematics; Material handling, hoisting. Storage. Packaging; Mathematical analysis; Mathematical models; Mobile robots; Motion-planning; moving obstacle; nonholonomic systems; obstacle avoidance; Optimal control; Pattern recognition. Digital image processing. Computational geometry; piecewise parameterization; polynomial inputs; Polynomials; Process control. Computer integrated manufacturing; Robotics; Robots; Standards development; Trajectories; trajectory generation; Transfert equipment, manipulators; industrial robots; Vehicle dynamics; Trajectory; Moving robot; Modeling; Velocity; Piecewise linearization