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IJRR
2007
181views more  IJRR 2007»
9 years 11 months ago
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...
Thomas M. Howard, Alonzo Kelly
IROS
2006
IEEE
157views Robotics» more  IROS 2006»
10 years 5 months ago
Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem...
Thomas M. Howard, Alonzo Kelly
ICRA
2006
IEEE
96views Robotics» more  ICRA 2006»
10 years 5 months ago
Manipulability Optimization for Trajectory Generation
Abstract— In this paper, we present an algorithm for manipulability based trajectory generation for any serial manipulator that has an inverse kinematic model that can obtain all...
Luis Guilamo, James J. Kuffner Jr., Koichi Nishiwa...
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