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This paper introduces an efficient motion planning method for on-road driving of the autonomous vehicles, which is based on the rapidly exploring random tree (RRT) algorithm. RRT is an incremental sampling-based algorithm and is widely used to solve the planning problem of mobile robots. However, due to the meandering path, the inaccurate terminal state, and the slow exploration, it is often inefficient...
This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment...
This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started...
This paper describes a path planning method for mobile robots/vehicles be extending the path sequentially. Considering practical use and applications of the mobile robot/vehicles, additional via-points for future path are given sequentially from sensor processing and environment recognition process. Thus, the path should be calculated sequentially with such additional conditions during mission execution...
We present a real-time path planning method for on-road autonomous driving. This method utilizes a two-level hierarchy consisting of on-road behavior planning and online path generating to achieve feasible paths for autonomous vehicle in dynamic on-road environment which is characterized by lots of structured information and flat terrain. An on-road behavior planning technique is used to transform...
A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control...
Flipping control of the tail fin with two degrees, which is drived by two DC servo motors, is a problem of motion control in the condition of high speed and heavy load. lt demands that there be no distortion of transformation of speed and position synchronously. Based on the SPC-III robot fish, a math model used for flipping control is deduced according to the rule of tail fin flipping. In terms of...
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