Underactuated Vehicle Control - Optimized Motion Planning

Underactuated Vehicle Control - Motion Planning with Obstacles and Multiple Vehicles

Underactuated Vehicle Control - Additional Motion Planning Simulations

Underactuated Vehicle Control - Motion Planning Literature Review

Underactuated Vehicle Control - Motion Planning Algorithm and Simulations

Motion Planning for Nonlinear Underactuated Vehicles using H∞ Techniques

This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete configuration along the trajectory. The algorithm introduces an iterative H∞filter to improve upon th...