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• W2109791194 abstract "We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstacle-cluttered 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." @default.
• W2109791194 created "2016-06-24" @default.
• W2109791194 creator A5060127147 @default.
• W2109791194 creator A5065104734 @default.
• W2109791194 date "2007-04-01" @default.
• W2109791194 modified "2023-09-27" @default.
• W2109791194 title "Smooth Feedback for Car-Like Vehicles in Polygonal Environments" @default.
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• W2109791194 doi "https://doi.org/10.1109/robot.2007.363944" @default.
• W2109791194 hasPublicationYear "2007" @default.
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