Path Tracking in Motion Planning

González-López, M. J.; Recio, Tomás

doi:10.1093/comjnl/36.5.515

Cited by 2 publications

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“…Two main categories of path planning can be found in the scientific literature: local planning and global path planning. 14,19,20 The local planning is related to the maneuverability strategy from a local reference frame attached to the mobile robot motion. In some cases, reactive navigation (such as sensor-based navigation) is used instead of planning 4,19 because of the small amount of environment information needed by the mobile robot.…”

Section: Introductionmentioning

confidence: 99%

SLAM-based maneuverability strategy for unmanned car-like vehicles

Cheein

2013

Robotica

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SUMMARYIn this work, an optimal maneuverability strategy for car-like unmanned vehicles operating in restricted environments is presented. The maneuverability strategy is based on a path planning algorithm that uses the environment information to plan a safe, feasible and optimum path for the unmanned mobile robot. The environment information is obtained by means of a simultaneous localization and mapping (SLAM) algorithm. The SLAM algorithm uses the sensors' information to build a map of the surrounding environment. A Monte Carlo sampling technique is used to find an optimal and safe path within the environment based on the SLAM information. The objective of the planning is to safely reach a desired orientation in a bounded space. Theoretical demonstrations and real-time experimental results (in indoor and outdoor environments) are also presented in this work.

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Section: Introductionmentioning

confidence: 99%

SLAM-based maneuverability strategy for unmanned car-like vehicles

Cheein

2013

Robotica

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“…Many applications, especially in mechanical engineering and in numerical analysis (see Gózalez-López and Recio, 1993;Liska and Steinberg, 1993;Jirstrand, 1997), lead to QE problems with trigonometric functions involved. The general first-order theory of the real numbers with sine and cosine is undecidable: since the zeros of the sine function are precisely the integral multiples of π, one can find Diophantine arithmetic within it, which is undecidable (see also Tarski, 1951).…”

Section: Introductionmentioning

confidence: 99%

Quantifier Elimination for Trigonometric Polynomials by Cylindrical Trigonometric Decomposition

Pau

Schicho

2000

Journal of Symbolic Computation

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Given a formula Φ in r variables, some of them quantified and/or occurring as arguments in trigonometric functions, we consider in this paper the problem of finding a quantifierfree formula equivalent to Φ.We present an algorithm that first computes a decomposition of the space so that the polynomials occurring in Φ are sign-invariant over each cell of this decomposition. Then the cells over which Φ is true are collected: their description gives a quantifier-free formula equivalent to Φ. The algorithm is an adaption of a well-known algorithm for the same problem with polynomial functions.

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Path Tracking in Motion Planning

Cited by 2 publications

References 0 publications

SLAM-based maneuverability strategy for unmanned car-like vehicles

SLAM-based maneuverability strategy for unmanned car-like vehicles

Quantifier Elimination for Trigonometric Polynomials by Cylindrical Trigonometric Decomposition

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