'Holonomic path' diaporamas de présentation

CS 326A: Motion Planning

543 views • 36 slides

CS 326A: Motion Planning

CS 326A: Motion Planning. ai.stanford.edu/~latombe/cs326/2007/index.htm Non-Holonomic Motion Planning. Under-Actuated Robots. Fewer controls than dimensions in configuration space What is a degree of freedom: number of dimensions of C-space (global) or number of controls (local)?.

454 views • 33 slides

Feasible trajectories for mobile robots with kinematic and environment constraints

Feasible trajectories for mobile robots with kinematic and environment constraints. Paper by Jean-Paul Laumond I am Henrik Tidefelt. Paper overview. Introduction Topology and connectivity of the admissible configuration space The holonomy problem

499 views • 26 slides

Kinodynamic Motion Planning

Kinodynamic Motion Planning. Motion constraints. Can a car always go from point A to B?. ???. Configuration space & tangent space. ( x,y, q ). q. q. y. x. Kinodynamic constraints. Nonholonomic constraints Non-integrable relationship between configuration and velocity

120 views • 7 slides

CS 326 A: Motion Planning

CS 326 A: Motion Planning. http://robotics.stanford.edu/~latombe/cs326/2002 Nonholonomic Robots. d y /dx = tan q. d x /dt = v cos q d y /dt = v sin q. d q / d t = ( v / L ) tan f. | f | < F. Example: Car-Like Robot.

64 views • 6 slides