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In this paper, an optimal control approach is used to solve a two-dimensional path planning problem for a differential drive mobile robot. Two optimal control algorithms are presented and analyzed, which consist of a novel implementation of a linear quadratic tracker (LQT), and a dynamic programming (DP) scheme. The algorithms are applied to the task of GPS navigation with obstacle avoidance. The...
Recent applications of robotics often demand two types of spatial awareness: 1) A fine-grained description of the robot's immediate surroundings for obstacle avoidance and planning, and 2) Knowledge of the robot's position in a large-scale global coordinate frame such as that provided by GPS. Although managing information at both of these scales is often essential to the robot's purpose, each scale...
This paper describes the development of the obstacle sensing and collision avoidance for Adaptive Cruises Control(ACC) system with an automated vehicle using the laser scanner and RTK - DGPS(Real Time Kinematic - Differential Global Positioning System) system for autonomous navigation. The real scale vehicle for experiment is constructed using RTK-DGPS and laser scanner. Laser scanner is detects the...
Autonomous system have been interesting topic in the world of robotics, in order to replace human being. Intelligent vehicle is one of the popular autonomous system that gives many advantage for this world, not only in military but also civilian. Route control and obstacle avoidance are now considered as major problems in autonomous system. In this paper, new methods of routing and avoidance algorithm...
The goal of this project was to implement a mechanical hardware system capable of autonomous navigation and obstacle avoidance within any environment. The vehicle is capable of crossing relatively rough terrain while maintaining the main housing box level using an articulation arm which allows each set of left and right wheels to pivot independently around the central compartment. In order to survive...
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