2017
DOI: 10.1007/s10846-017-0555-0
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Abstract: Integrated motion planning and control for the purposes of maneuvering mobile robots under state-and input constraints is a problem of vital practical importance in applications of mobile robots such as autonomous transportation. Those constraints arise naturally in practice due to specifics of robot mechanical construction and the presence of obstacles in motion environment. In contrast to approaches focusing on feedback control design under the assumption of given reference motion or motion planning with neg… Show more

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Cited by 6 publications
(11 citation statements)
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References 52 publications
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“…Note that a limit is sufficient to ensure G 3 -continuity in the case of point s 1 , since at this point only a connection with line segments or boundary conditions of the path can occur, which guarantees continuity on the other side of the transition segment connection. Condition κ d (s 2 ) = κ c is immediately satisfied since point w 1 2y is defined in such a way, that it corresponds to the point of maximal curvature for the transition segment (assuming µ ∈ (0.5, 1), which is satisfied in our case) as shown in the proof of Property 2 in Reference [22]. Since a curvature maximum occurs at s 2 , it also implies that dκ d ds (s 2 ) = 0 holds, because s 2 is a stationary point of κ d (s).…”
Section: Path Continuity and Curvature Limit Satisfaction Analysismentioning
confidence: 73%
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“…Note that a limit is sufficient to ensure G 3 -continuity in the case of point s 1 , since at this point only a connection with line segments or boundary conditions of the path can occur, which guarantees continuity on the other side of the transition segment connection. Condition κ d (s 2 ) = κ c is immediately satisfied since point w 1 2y is defined in such a way, that it corresponds to the point of maximal curvature for the transition segment (assuming µ ∈ (0.5, 1), which is satisfied in our case) as shown in the proof of Property 2 in Reference [22]. Since a curvature maximum occurs at s 2 , it also implies that dκ d ds (s 2 ) = 0 holds, because s 2 is a stationary point of κ d (s).…”
Section: Path Continuity and Curvature Limit Satisfaction Analysismentioning
confidence: 73%
“…Since κ c ∈ [−κ B , κ B ] \ {0}, circle arcs and line segments satisfy the path curvature limit by construction. The curvature limit is also satisfied by both transition segments, since their curvature is limited by κ c , as proven in Property 2 in Reference [22].…”
Section: Path Continuity and Curvature Limit Satisfaction Analysismentioning
confidence: 76%
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