Smooth Feedback Planning

Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. First, the problem of a fully actuated point robot moving in a piecewise linear environment of arbitary dimension is addressed. Second, fully actuated robots with bodies are considered---both practical problems like planar disc or polygonal robots, and the fully general case of a semi-algebraic robot moving amidst semi-algebraic obstacles (the generalized piano mover's problem). Third, feedback plans for point robots with simple nonholonomic constraints, such as unicycles and car-like robots, are described. Each of these problems is addressed using variations on a unified approach. First, the environment is decomposed into simple (often convex) cells; second, local vector fields are created and combined together to create a solution to the global navigation problem. In addition to standard navigation problems, approaches to trajectory tracking and multiple robot coordination are described to illustrate the flexibility of the approach.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical and Computer Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Lindemann, Stephen R.

Contributors dc:contributor

• Spong, Mark W.

• Engineering, Robotics

Language dc:language

eng

Identifier

(MiAaPQ)AAI3337848

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/81100