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In this article, a solution to target convergence and obstacle avoidance problem of an underactuated nonstandard n‐trailer robot is proposed. With a new geometric approach, we propose autonomous velocity and steering angle controllers for the car‐like tractor robot such that the tractor‐trailer system moves from an initial position to a designated target. The proposed method simultaneously takes into...
In this paper, we use a simple geometric approach to control the motion of a standard tractor-trailer robot from some initial positions to a goal position. The solution to the motion control problem is proposed in two steps. Firstly, the control laws are proposed that can drive the robot to a goal position whilst observing the mechanical singularities associated with the system. Secondly, the control...
In this paper we propose a new solution to the findpath problem of a point-mass robot which is required to move safely to a designated target in a 3-dimensional workspace. We consider a priori known workspace cluttered with obstacles of arbitrary position and size. The novelty of the solution is three-fold. Firstly, a velocity algorithm is used to drive the robot from its initial position to the target...
One of the seminal attributes of mobile robots is to navigate accurately in a workspace executing tasks such as collision and obstacle avoidances and target convergence. Use of landmarks has become one of the popular methods to aid in navigation. In this paper, we present a new solution of landmark aided navigation using the Lyapunov-based Control Scheme. We assume a priori knowledge of a set of landmarks...
In this paper, we propose a relatively simple approach to solve the motion control problem of a three dimensional articulated manipulator arm. The manipulator arm has two links connected by a revolute joint and is anchored on a rotatable base. The kinematic model is developed and a velocity based algorithm is used to move the end-effector from an initial position to a goal position taking into account...
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