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    A Hybrid Control Strategy for Path Planning and Obstacle Avoidance with Nonholonomic robots

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    No. of downloads: 394

    Date
    1994
    Author
    Manikonda, Vikram
    Advisor
    Krishnaprasad, P.S.
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    Abstract
    The primary focus is on providing a formal basis for behavior- based robotics using techniques that have been successful in control-based approaches for steering and stabilizing robots that are subject to nonholonomic constraints. In particular, behaviors for robots are formalized in terms of kinetic state machines, a motion description language and the interaction of the kinetic state machine with information coming in from (limited range) sensors. This allows us to create a mathematical basis for discussing these systems, including techniques for integrating sets of behaviors. In addition we suggest optimality criteria for comparing both atomic and compound behaviors in various environments. A hybrid architecture for the implementation of path planners that use the motion description language is presented. The design and implementation of a planner for path planning and examples of obstacle avoidance with nonholonomic robots are discussed.
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    http://hdl.handle.net/1903/5578
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