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This paper presents a kinematic model based path planning algorithm for autonomous vehicle. Polynomial parameterization is used to generate the trajectory. All constraints including kinematic constraints and obstacles are represented by polynomial parameters. Using this parameterization method the velocity can be planned simultaneously. Road information is taken into account in the object function...
We present a runtime efficient approach to sampling-based path planning for fixed-wing unmanned aerial vehicles (UAV) based on line-graphs. Accounting for flight performance limits and the local prevailing wind, path planning is computationally expensive especially in 3D obstacle environments. A common approach is to solve the problem successively, i.e. to plan collision free paths, which are then...
In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and varying a order for derivation...
The particle swarm optimization algorithm (PSO) is widely used and therefore it has been deeply studied in order to understand the parameters influence on the final results. In this paper we study the modification of the common approach. We decided to utilize method that alters the velocity update rule which now uses the fractional-order derivative. For derivative discretization we propose use of...
In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and a combination of fractional...
In this paper a simple method of orientational path planning for commonly used 6R manipulators is presented. The chosen criterion is to minimize changes of values of manipulator's joints. For a given set of locations a proper orientation of end-effector has to be computed. The three Euler angles (α, β, γ) have been replaced with one angle (δ). In order to reduce the number of variables describing...
In order to realize accuracy control, a trajectory planning algorithm is designed for the 4 DOF articulated eggplant-picking robot. The structure selection of the robot is made according to the eggplant's growth circumstance and distribution space. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution...
As an important area of the high-tech research, robotics technology is attached importance by governments. It has become important equipment in manufacturing of a country's manufacture level and technological level. Robot kinematics analysis is the basis of robot motion control. According to the specific characteristics of MOTOMAN-HP20 manipulator, this paper established a kinematics model and set...
Planning and control environments for automated guided vehicles are predominantly dedicated to specialized vehicles, e.g. special carriers used in harbor areas for the transport of containers between quays and stackyards. The environment is completely different for commercial standard vehicles when operated under automated guidance. Typically, these are articulated vehicles with a high degree of variability,...
This paper studies the motion planning problem for formations of n identical Dubins vehicles maintaining constant distances. We discuss three basic formations: star formations, chain formations and ring formations, from which any formation based on pairwise constant distance can be obtained. The challenge is to control such high-dimensional affine systems with drift through 1-dimensional controls...
This paper presents a method to model and reproduce cyclic trajectories captured from human demonstrations. Heuristic algorithms are used to determine the general type of pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and...
Wing motion in most flapping-wing micro air vehicles (MAVs) is restricted to a flat stroke plane in order to simplify analysis and mechanism design. An MAV actuation and transmission design capable of controlling flapping motions and deviations from the mean stroke plane using relatively simple modifications to a proven design is presented. This allows preliminary investigation into more power-efficient...
Backing of tractor-trailer systems is a problem addressed in many literatures. It is usually solved using various nonlinear-based control methods, which are often not easy to implement or tune. Similar to other work focused on backing a single axle trailer with a car like vehicle, we propose a two-tier controller that is simple and intuitive. However, ours is based upon curvature as opposed to hitch...
This paper is focused on the problem of accurate and reliable path tracking control of a 4-wheels car-like mobile robot moving off-road at high speed. Dynamic and extended kinematic models that take into account the effects of wheel skidding are presented. Based on the extended kinematic model, an adaptive and predictive controller for path tracking is derived. This control law is combined to a stabilization...
In the forest industry, trees are logged and harvested by human-operated hydraulic manipulators. Eventually, these tasks are expected to be automated with optimal performance. However, with todays technology the main problem is implementation. While prototypes may have rich sensing information, real cranes lack certain sensing devices, such as encoders for position sensing. Automating these machines...
Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates the kinematic model of an articulated object based on the trajectory described by the robot's end effector, and uses this model to predict the future trajectory of the end effector...
The article proposes a new feedback control model which is suited for path following in a 3 Dimensional Cartesian space. Differently from other methods in literature, the method proposed neither requires to compute a projection of the robot's position on the path, nor it needs considering a moving virtual target. In spite of this: i) it guarantees asymptotic stability for every 3D curve which can...
Online optimal planning of robotic arm movement is addressed. Optimality is inspired by computational models, where a “cost function” is used to describe limb motions according to different criteria. A method is proposed to implement optimal planning in Cartesian space, minimizing some cost function, by means of numerical approximation to a generalized nonlinear model predictive control problem. The...
Coordination have significant role in formation of a group of mobile robots. In this paper, we present path following and coordination in virtual structure for a group of mobile robots moving in formation. The simulation and experimental results obtained with three mobile robots are presented to demonstrate the performance of controller and coordination algorithms. The coordination algorithm instructs...
Aiming at the problems in path-tracking control problem of wheeled mobile robots, in the presence of both actuator saturations and external disturbances, a model predictive control strategy is proposed in this paper optimization method of electromagnetism-like mechanism are used to perform real-time nonlinear minimization of the cost function which penalizes the robot's position error, orientation...
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