NDLI: Smooth Feedback for Car-Like Vehicles in Polygonal Environments

Content Provider	IEEE Xplore Digital Library
Author	Lindemann, S.R. LaValle, S.M.
Copyright Year	2007
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL (Lindemann, S.R.)
Abstract	We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstacle-cluttered polygonal environments. The robot is taken to be a point with motion that must satisfy bounded path curvature constraints. We construct a global feedback plan (or control policy) by partitioning the environment into convex cells, computing a discrete plan on the resulting cell complex, and generating local control laws on the state space that are safe, consistent with the high level plan, and satisfy smoothness conditions. The trajectories of the resulting global feedback plan are smooth and stabilize the position of the robot in the plane, neglecting the orientation.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3104
Ending Page	3109
File Size	193545
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363944
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Orbital robotics Mobile robots Navigation Robotics and automation State-space methods Feedback control Motion planning Adaptive control Trajectory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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