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From paths to trajectories for multi-body mobile robots

  • 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

This paper adresses the problem of parametrizing with respect to time a feasible path for a mobile robot towing a trailer. We propose a robust approach, deriving from previous works on minimum time parametrization of a path for a manipulator. Numerical integrations of differential equations are replaced by piece-wise defined continuous functions. Our approach has been validated by experiments.

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References

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Author information

Authors and Affiliations

  1. LAAS-CNRS, Toulouse, France

    F. Lamiraux & J.-P. Laumond

Authors
  1. F. Lamiraux
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  2. 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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Lamiraux, F., Laumond, JP. (1998). From paths to trajectories for multi-body mobile robots. 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/BFb0112971

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  • DOI: https://doi.org/10.1007/BFb0112971

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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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