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Motion planning in the presence of moving obstacles using RRT search and B-splines
(2009)IFAC Proceedings Volumes ~ 8th IFAC Symposium on Robot ControlThis paper addresses the problem of path planning of mobile robots in dynamic environments. A collision-free trajectory of the robot is generated in the presence of moving obstacles that is three times differentiable and enables direct derivation of kinematic level controls for the robot. A chained form decomposition and state transformation for a geometric and time criterion of collision avoidance is based on an approach where closed-form ...Conference Paper -
Safe Vehicle Navigation in Dynamic Urban Scenarios
(2008)2008 11th International IEEE Conference on Intelligent Transportation Systems (ITSC)Conference Paper -
Path following for autonomous vehicle navigation with inherent safety and dynamics margin
(2008)2008 IEEE Intelligent Vehicles SymposiumThis paper addresses the path following problem for autonomous Ackermann-like vehicle navigation. A control strategy that takes into account both kinodynamic and configuration space constraints of the vehicle, denoted as traversability-anchored dynamic path following (TADPF) controller is presented. It ensures secure vehicle commands in presence of obstacles, based on traversability information given by a global navigation function. By ...Conference Paper -
Dynamics modeling and parameter identification for autonomous vehicle navigation
(2007)2007 IEEE/RSJ International Conference on Intelligent Robots and SystemsConference Paper