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In this paper, a neural-dynamic optimization-based nonlinear model predictive control (NMPC) is developed for controlling leader–follower mobile robots formation. Consider obstacles in the environments, a control strategy is proposed for the formations which includes separation-bearing-orientation scheme (SBOS) for regular leader–follower formation and separation-distance scheme (SDS) for obstacle...
This paper presents the nonholonomic navigation and obstacle-avoidance control method for a developed wheeled chair. The nonholonomic navigation technology is based on SLAM, in addition, a new method of collision avoidance control is proposed for this latter. The method makes the wheeled chair move intelligently and avoid obstacle with more efficient and robust performance. Extensive experiment research...
To increase the localization accuracy of the moving service robot in restaurant, A localization method and a landmark recognition method based on RGB and depth (RGB-D) vision sensor is presented. Based on the landmarks, we utilized an Extend Kalman Filter(EKF) method to calculate robot position and pose. The path planning approach based on a differential-flatness point-to-point trajectory planning...
In this paper, a neural network (NN) tracking controller is developed for robot manipulators. To deal with the unknown dynamics of the robot systems, radial basis function neural network (RBFNN) is integrated into the adaptive control design to compensate for the uncertainties. In order to achieve the predefined transient tracking performance, time-varied barrier Lyapunov functions (BLFs) are synthesized...
A new vision-based planning and control scheme for a mobile service robot is presented, which consists of two-driving wheels and two arms, two stereo cameras and a microphone. First, the event-based vision-based planning and control is introduced. Based on the network, real-time multimedia data and control command can be transferred to the robot such that the robot can fulfill the desired task, meanwhile,...
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