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How to implement dynamic paths

  • Chapter 6 Non Holonomic Vehicles
  • Conference paper
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Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

Sensor-based dynamic path modification is one of powerful issues to combine planning and reactive control. This paper treats problems related to flexible trajectories implementation and presents solutions to connect functional levels from the planning to the execution. A general dynamic path structure is proposed and discussed including execution needs and constraints. Implementation algorithms are then developed and presented for general metrics and execution contexts. Finally, solutions for car-like mobile robots are encapsulated in a complete system joining these different levels and mange there functional coherence.

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References

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Author information

Authors and Affiliations

  1. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse Cedex 4, France

    M. Khatib, H. Jaouni, R. Chatila & J.-P. Laumond

Authors
  1. M. Khatib
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  2. H. Jaouni
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  3. R. Chatila
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  4. J.-P. Laumond
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Khatib, M., Jaouni, H., Chatila, R., Laumond, JP. (1998). How to implement dynamic paths. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112970

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  • DOI: https://doi.org/10.1007/BFb0112970

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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