Find results with:

Add another field

Search by date

to

Searching collections:

Dartmouth Dissertations

Add or remove collections

Home Dartmouth Dissertations Page 1

Reference URL

To link to the entire object, paste this link in email, IM or document

To embed the entire object, paste this HTML in website

To link to this page, paste this link in email, IM or document

To embed this page, paste this HTML in website

Minimum time kinematic trajectories for self-propelled rigid bodies in the unobstructed plane

you wish to report:

Your comment:

Your Name:

Submit

Cancel

...

Back to top

Powered by CONTENTdm®

Call No.	Ph.D. 2011
Author	Furtuna, Andrei
Title	Minimum time kinematic trajectories for self-propelled rigid bodies in the unobstructed plane
Date	2011
Abstract	The problem of moving rigid bodies efficiently is of particular interest in robotics because the simplest model of a mobile robot or of a manipulated object is often a rigid body. Path planning, controller design and robot design may all benefit from precise knowledge of optimal trajectories for a set of permitted controls. In this work, we present a general solution to the problem of finding minimum time trajectories for an arbitrary self-propelled, velocity-bounded rigid body in the obstacle-free plane. Such minimum-time trajectories depend on the vehicle's capabilities and on and the start and goal configurations. For example, the fastest way to move a car sideways might be to execute a parallel-parking motion. The fastest long-distance trajectories for a wheelchair-like vehicle might be of a turn-drive-turn variety. Our analysis reveals a wide variety of types of optimal trajectories. We determine an exhaustive taxonomy of optimal trajectory types, presented as a branching tree. For each of the necessary leaf nodes, we develop a specific algorithm to find the fastest trajectory in that node. The fastest trajectory overall is drawn from this set.
Description	vi, 101 leaves : ill. (some col.) 28 cm.
Format	application/pdf
Advisor	Balkcom, Devin J. ; Bailey-Kellogg, Chris, ; Winkler, Peter ; Baryshnikov, Yuliy
Subject	Dynamics, Rigid. ; Trajectories (Mechanics) -- Mathematical models. ; Machinery Kinematics of -- Mathematical models.
College	Dartmouth College -- Department of Computer Science.
Issuing Body	Dartmouth Dissertations are made available through the Dartmouth Digital Library.
Degree	Thesis (Ph.D.)--Dartmouth College.
Copyright	All rights reserved. No part of this book may be reproduced in any form by any electronic or mechanical means without permission in writing from the author.
DOI	http://dx.doi.org/10.1349/ddlp.1656

Find results with:

Searching collections:

Home Dartmouth Dissertations Page 1

Minimum time kinematic trajectories for self-propelled rigid bodies in the unobstructed plane

Object Description

Description

Minimum time kinematic trajectories for self-propelled...

Minimum time kinematic trajectories for self-propelled...

	All
	Pages Enter page numbers or page ranges separated by commas. For example: 1,3,5-12