TY - GEN
T1 - Smooth feedback for car-like vehicles in polygonal environments
AU - Lindemann, Stephen R.
AU - LaValle, Steven M.
PY - 2007
Y1 - 2007
N2 - We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstaclecluttered 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.
AB - We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstaclecluttered 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.
UR - http://www.scopus.com/inward/record.url?scp=35548996927&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2007.363944
DO - 10.1109/ROBOT.2007.363944
M3 - Conference contribution
AN - SCOPUS:35548996927
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3104
EP - 3109
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -