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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...
In this paper, a group of cooperative planning paths for simultaneous starting and arriving Unmanned Aerial Vehicles (UAVs) are generated by parameterized Cornu-Spirals (CSs). The continuity and smoothness requirements for the designed flyable paths are achieved by the continuous curvature characteristics of CSs. The final curves are minimized in length with the least number of parameters representing...
This paper presents a new on-line planner for dynamic environments that is based on the concept of velocity obstacles (VO). It addresses the issue of motion safety, i.e. avoiding states of inevitable collision, by selecting a proper time horizon for the velocity obstacle. The proper choice of the time horizon ensures that the boundary of the velocity obstacle coincides with the boundary of the set...
This paper addresses the problem of how to enable smoothness generically in nonholonomic motion planning for mobile robots travelling at speed both without and with unpredictable drift. The problem raises the challenge of maintaining goal connection while also optimising the path curvature. The approach is a gradient based methodology set in dynamic potential fields and has the capacity to enable...
Automatic navigation of agricultural vehicles, such as tractors and harvesters, can increase the level of automation in the agricultural process, thereby lessening the human workload. In the agricultural environment, where vehicles move on uneven terrain, achieving maneuverability and mobility can be difficult, particularly when the path curvature is small or vehicle orientation and path tracking...
The paper develops a combined genetic algorithm and fuzzy logic approach to path planning for a mobile robot operating in rough environments. Path planning consists of a description of the environment using a fuzzy logic framework, and a two-stage planner. A global planner determines the path that optimizes a combination of terrain roughness and path curvature. A local planner uses sensory information,...
Control design of mobile robots dedicated to path tracking tasks is generally based on the rolling without sliding assumption at the wheel/ground contact point. However, such an hypothesis is not relevant for off-road vehicle and the use of non sliding assumption in this case leads to important tracking errors. Moreover, the vehicles considered for off-road applications (such as agricultural tasks)...
Extended range telepresence allows a human user to intuitively teleoperate a mobile robot through arbitrarily large remote environments by natural walking. In order to give the user the possibility to navigate the robot through an arbitrarily large remote environments, while his own environment is of limited size, motion compression is used. The motion compression framework provides a nonlinear transformation...
This paper presents a kinematic motion control strategy for a multiple-axle compliant framed modular wheeled mobile robot. A decentralized master-slave type control scheme is proposed here to solve motion control problems (posture regulation, path following, and trajectory tracking) of the n-axle robot. The controller considers physical constraints on the path curvature, wheel velocity, and traction...
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