The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The motion's generation consists in finding an analytic expression of a motion according to time. A « Map road » type planner or « Cell decomposition » provide to the motion generator some possible free crossing points of collision. The global trajectory's interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which...
Autonomous vehicle navigation requires the integration of many technologies such as path tracking. In path tracking design, we must take into account the dynamic of actuators in order to reduce overshoots appearing for small displacements. It permits the generation of an optimal movement reference-input giving a minimum path completion time, taking into consideration the maximum velocity, acceleration...
Many tracking problems are split into two sub-problems, first a smooth reference trajectory is generated that meet the control design objectives, and then a closed loop control system is designed to follow this reference trajectory as well as possible. Applications of this kind include (autonomous) vehicle navigation systems and robotics. Typically, a spline model is used for trajectory generation...
Testing and gauging Autonomous Underwater Vehicle (AUV) missions through observations and experimental trials prove to be time consuming and costly. A system capable of verifying the AUV control models prior to practical test is needed. One of the key aspects in the presented framework is AUV modeling which mainly covers the area of AUV dynamics. Based on this designed simulation framework, custom...
For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements...
A hydraulically actuated platform with 4-degrees of freedom (4-DOF) was designed to be able to apply velocity- or acceleration-controlled floor surface perturbations to freely walking human subjects. The apparatus was required to provide velocity-controlled translational perturbations over the floor surface, rotational perturbations about the ankle joint, and acceleration-controlled vertical translational...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.