A collision-free path-planning method for an articulated mobile robot

REFERENCES

• Canudas , d e , Wit , C , Ndoudi-Likoho , A D and Micaelli , A . 1997 . Nonlinear control for a train-like vehicle . Int J Robotics Res , 16 ( 3 ) : 300 – 319 .
   Web of Science ®Google Scholar
• Faverjon , B and Tournassoud , P . 1987 . A local based approach for path planning of manipulators with high number of degrees of freedom . In IEEE Proc. International Conference on Robotics and Automation , : 1152 – 1159 .
   Google Scholar
• Ramirez , G and Zeghloul , S . 2001 . Collision-free path planning for nonholonomic mobile robots using a new obstacle representation in the velocity space . Int J Robotica , 19 : 543 – 555 .
   Google Scholar
• Kolmanovsky , I , Reyhanoglu , M and McClamroch , N H . 1996 . Switched mode feedback control laws for nonholonomic systems in extended power forms . Sys. Control Lett , 27 : 29 – 36 .
   Google Scholar
• Lamiraux , F , Sekhavat , S and Laumond , J P . 1999 . Motion planning and control for Hilare pulling a trailer . IEEE Trans Robotics Automat , 15 ( 4 ) : 640 – 651 .
   Google Scholar
• Luo , J and Tsiotras , P . 1998 . Exponentially convergent control laws for nonholonomic systems in power form . Syst Control Lett , 35 : 87 – 95 .
   Web of Science ®Google Scholar
• Murray , R M and Sastry , S S . 1993 . Nonholonomic motion planning: steering using sinusoids . IEEE Trans Automat Control , 38 : 700 – 716 .
   Web of Science ®Google Scholar
• Quintero-Alvarez , P , Ramirez , G and Zeghloul , S . 2005 . A collision-free path planning method for an articulated mobile robot in a free environement . In Proceedings of IDETC/CIE 2005 , 2 Long Beach, CA.
   Google Scholar
• Sordalën , O J and Canudas de Wit , C . 1992 . Exponential control law for a mobile robot: extension to path following . Proceedings of IEEE International Conference on Robotics and Automation , : 2158 – 2163 .
   Google Scholar
• Spong , M W and Vidyasagar , M . 1989 . Robot Dynamics and Control , New York : Wiley .
   Google Scholar
• Tilbury , D , Murray , R and Sastry , S . 1994 . Trajectory generation for the N-trailer problem using Goursat normal form . U.C. Berkeley ERL Memorandum, No. M93/12
   Google Scholar
• Tilbury , D , Sordalen , O , Bushnell , L and Sastry , S . 1993 . A multi-steering trailer system: conversion into chained form using dynamic feedback . U. C. Berkeley ERL Memorandum No. M93/55
   Google Scholar
• Walsh , G , Tilbury , D , Sastry , S , Murray , R and Laumond , J P . 1994 . Stabilization of trajectories for systems with nonholonomic constraints . IEEE Trans Automat Control , 39 : 216 – 222 .
   Web of Science ®Google Scholar
• Zeghloul , S and Rambeaud , P . 1996 . A fast algorithm for distance calculation between convex objects using the optimization approach . Robotica , 14 : 335 – 363 .
   Google Scholar