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A dynamic path generation approach to find an admissible path in totally unknown surroundings is presented. The proposed approach is a method to find a reasonable trajectory in unknown obstacles. This avoidance algorithm is based on the potential field approach, and there are some differences and innovations from those methods because a navigation function to handle considers not only position of...
There are a lot of cases with vehicle parking methods. But, when we try to analyze the successful parking patterns, we will be known that all processing is accomplished within specific parking pattern. We collect and analyze various parking patterns, so suggest the parking planning algorithm that do mission safe and effectively, when Unmanned Ground Vehicle (UGV) starts parking mission.
Consensus refers to the agreement upon some specific variable between the agents of the system. In this paper, we adopt consensus techniques in order to derive distributed guidance laws which make multiple agents rendezvous at a desired target point. Such rendezvous maneuver can be applied to a salvo attack of multiple missiles, or cooperative surveillance of multi-UAVs. We propose two distributed...
In this paper, we propose a control law that makes multiple non-holonomic vehicles converge to a limit cycle with the same relative phase angle. All the agents use information on only their neighbors with which they can communicate. An adjacency matrix is used to represent the connectivity among the agents. With the phase portrait of the limit cycle and the heading angles of the vehicles, we derive...
Precise control of Automatic Guided Vehicles (AGVs) navigating between the aisles of manufacturing systems by the use of local markers is an important task. On the basis of the geometric model of the workspace and the vehicles and that of the sensor uncertainties precise trajectories were recently generated along which the vehicle safely can move. In order to achieve precise trajectory tracking the...
In this paper, the special estimation schemes for INS/GPS integration is addressed and implemented on real-time PC-box hardware. The strapdown INS (SINS) using two Kalman filters (KF) has been built so that the system can be operated flexibly between feed-forward and feedback modes in case of GPS outage. The experiment results shown that this INS/GPS system can be used for practical applications.
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