A Hybrid Control Strategy for Path Planning and Obstacle Avoidance with Nonholonomic robots
| dc.contributor.advisor | Krishnaprasad, P.S. | en_US |
| dc.contributor.author | Manikonda, Vikram | en_US |
| dc.contributor.department | ISR | en_US |
| dc.date.accessioned | 2007-05-23T09:57:57Z | |
| dc.date.available | 2007-05-23T09:57:57Z | |
| dc.date.issued | 1994 | en_US |
| dc.description.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. | en_US |
| dc.format.extent | 1947099 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/5578 | |
| dc.language.iso | en_US | en_US |
| dc.relation.ispartofseries | ISR; MS 1994-8 | en_US |
| dc.subject | geometric control | en_US |
| dc.subject | kinematics | en_US |
| dc.subject | nonlinear systems | en_US |
| dc.subject | robotics | en_US |
| dc.subject | Intelligent Control Systems | en_US |
| dc.title | A Hybrid Control Strategy for Path Planning and Obstacle Avoidance with Nonholonomic robots | en_US |
| dc.type | Thesis | en_US |
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