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This paper proposes a general framework to establish the dynamic movement primitives library (DMPL) for a mobile robot path planning in unknown environment. Based on DMPL, the mobile robot can autonomously compute a smooth path from the initial position to the target points while avoiding any existed obstacles. Path planning based on DMPL consists of two phases, the library building and its application...
A novel learning algorithm based on Dynamic Movement Primitives (DMPs) is proposed for mobile robot path planning. First a path is artificially planned and the trajectories are used as sample set. The autonomous path planning of the robot is realized by establishing the DMPs model, utilizing the model parameters obtained by training with the sample trajectory. At last, the learned trajectory is generalized...
This paper presents an obstacle avoidance method of escaping from obstacle zone based on maximum distance priority mechanism, aiming at the obstacle avoidance with limited local environmental information instead of known global environmental information. Acquiring local environmental information by laser range finder (LRF) which collects distance data between object and mobile robot, we use a method...
The mobile olfaction robot is combined with the wireless sensor network to realize the odor source location. Mobile robot is a fusion of gas sensors and infrared ranging sensors etc. Environment information detected by wireless sensor network could provide general distribution of odor source for a mobile robot. Therefore, the time-consuming in traditional plume discovery could be avoided in the process...
To provide a generic solution to the local minimum problem encountered within flocking systems in uncertain environment, this paper presents a further design of a multi-model flocking control for multiple mobile robots in terms of behavior-based robotics. Within this framework, several new behavior modes are integrated with the sequential flocking strategy, including multi-robot rigid-body bouncing...
This paper mainly research about the trajectory tracking control of nonholonomic mobile robots. Using the idea of Backstepping, a simple virtual variable is proposed and the corresponding feedback control law of nonholonomic mobile robot is designed via lyapunov direct method, at the same time it can be proved that the control effect can achieve global asymptotic stability. The proposing of a simple...
Although it is relative new, flocking control has been widely attended to coordinates the motions among multiple agents or robots stably based on potential principles. To provide a generic and efficient solution to the local minimum problem encountered within various flocking systems in unexpected and irregular obstacle environment, this paper presents a new design of a multi-model flocking control...
This paper emphasizes on the sensor fusion algorithm on mobile robot's localization, to solve the problem of accumulated error attributed to wheel encoders and redundant readings in multi-sonar system. Based on the error analysis of wheel encoders and sonar, a new integrated intelligent sensor fusion algorithm is introduced, the novel core of such algorithm is error judgement rule. With this technique,...
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