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This paper considers the task of path planning for articulated robots such that the end effector is driven optimally between two points in the workspace while collision with dynamic obstacles is avoided. Compared to path planning in the configuration space, approaches in the workspace save the computationally expensive step of mapping obstacles from the workspace into the configuration space. The...
Although the equations describing the longitudinal motions of autonomous underwater vehicles are typically nonlinear, the linearized equations are still employed to design the depth controller by the traditional analysis methods in engineering for the sake of simplicity. The nonlinear systems limited in the longitudinal plane of the autonomous underwater vehicles are analyzed on center manifold through...
Although the equations describing the longitudinal motions of autonomous underwater vehicles are typically nonlinear, the linearized equations are still employed to design the depth controller by the traditional analysis methods in engineering for the sake of simplicity. The reduction of the nonlinearity losts the dynamics near the singular points which may be responsible for the sudden climb or dive...
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