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https://hdl.handle.net/2142/81100
Description
Title
Smooth Feedback Planning
Author(s)
Lindemann, Stephen R.
Issue Date
2008
Doctoral Committee Chair(s)
Spong, Mark W.
Department of Study
Electrical and Computer Engineering
Discipline
Electrical and Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Robotics
Language
eng
Abstract
Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. First, the problem of a fully actuated point robot moving in a piecewise linear environment of arbitary dimension is addressed. Second, fully actuated robots with bodies are considered---both practical problems like planar disc or polygonal robots, and the fully general case of a semi-algebraic robot moving amidst semi-algebraic obstacles (the generalized piano mover's problem). Third, feedback plans for point robots with simple nonholonomic constraints, such as unicycles and car-like robots, are described. Each of these problems is addressed using variations on a unified approach. First, the environment is decomposed into simple (often convex) cells; second, local vector fields are created and combined together to create a solution to the global navigation problem. In addition to standard navigation problems, approaches to trajectory tracking and multiple robot coordination are described to illustrate the flexibility of the approach.
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