Nonholonomic motion planning via optimal control
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
On the complexity of kinodynamic planning
SFCS '88 Proceedings of the 29th Annual Symposium on Foundations of Computer Science
Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles
International Journal of Robotics Research
Collision-free control of an omni-directional vehicle
Robotics and Autonomous Systems
A geometric algorithm to compute time-optimal trajectories for a bidirectional steered robot
IEEE Transactions on Robotics
Real-time trajectory generation for car-like vehicles navigating dynamic environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A framework for planning comfortable and customizable motion of an assistive mobile robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Spatiotemporal state lattices for fast trajectory planning in dynamic on-road driving scenarios
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Kinodynamic motion planning for mobile robots using splines
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Analysis and experimental verification for dynamic modeling of a skid-steered wheeled vehicle
IEEE Transactions on Robotics
Finding and transferring policies using stored behaviors
Autonomous Robots
Generalized Fringe-Retrieving A*: faster moving target search on state lattices
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Intelligent Service Robotics
Optimal trajectories for time-critical street scenarios using discretized terminal manifolds
International Journal of Robotics Research
Path planning with variable-fidelity terrain assessment
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Spline-Based RRT Path Planner for Non-Holonomic Robots
Journal of Intelligent and Robotic Systems
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An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle controls parameters. This approach can accommodate such effects as rough terrain, vehicle dynamics, models of wheel-terrain interaction, and other effects of interest. It can accommodate boundary and internal constraints while optimizing an objective function that might, for example, involve such criteria as obstacle avoidance, cost, risk, time, or energy consumption in any combination. The algorithm is efficient enough to use in real time due to its use of nonlinear programming techniques that involve searching the space of parameterized vehicle controls. Applications of the presented methods are demonstrated for planetary rovers.