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A fast motion planning representation for configuration flat robots with applications to micro air vehicles

Fragoso, Anthony T. and Matthies, Larry H. and Murray, Richard M. (2017) A fast motion planning representation for configuration flat robots with applications to micro air vehicles. In: 2017 American Control Conference. IEEE , Piscataway, NJ, pp. 4195-4202. ISBN 978-1-5090-5992-8. https://resolver.caltech.edu/CaltechAUTHORS:20170705-152213138

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Abstract

Navigation of micro air vehicles (MAVs) in unknown environments is a complex sensing and trajectory generation task, particularly at high velocities. In this work, we introduce an efficient sense-and-avoid pipeline that compactly represents range measurements from multiple sensors, trajectory generation, and motion planning in a 2.5-dimensional projective data structure called an egospace representation. Egospace coordinates generalize depth image obstacle representations and are a particularly convenient choice for configuration flat mobile robots, which are differentially flat in their configuration variables and include a number of commonly used MAV plant models. After characterizing egospace obstacle avoidance for robots with trivial dynamics and establishing limits on applicability and performance, we generalize to motion planning over full configuration flat dynamics using motion primitives expressed directly in egospace coordinates. In comparison to approaches based on world coordinates, egospace uses the natural sensor geometry to combine the benefits of a multiresolution and multi-sensor representation architecture into a single simple and efficient layer.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.23919/ACC.2017.7963600DOIArticle
http://ieeexplore.ieee.org/document/7963600/PublisherArticle
ORCID:
AuthorORCID
Fragoso, Anthony T.0000-0002-5805-9668
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2017 IEEE.
Record Number:CaltechAUTHORS:20170705-152213138
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170705-152213138
Official Citation:A. T. Fragoso, L. H. Matthies and R. M. Murray, "A fast motion planning representation for configuration flat robots with applications to micro air vehicles," 2017 American Control Conference (ACC), Seattle, WA, USA, 2017, pp. 4195-4202. doi: 10.23919/ACC.2017.7963600
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:78775
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:06 Jul 2017 21:30
Last Modified:03 Oct 2019 18:12

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