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Navigation and obstacle avoidance are essential for mobile robots. In the dynamic environment, the obstacles may move with varying velocities. It is thus crucial to develop an effective scheme for moving obstacle avoidance. Motivated by this, in this paper, we propose such a scheme based on parametric trajectory planning. With the conditions for collision avoidance formulated as the constraints, a...
In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters (contact force and robot's speed)...
The paper deals with modeling of human-like reaching movements. Several models are under study. First, we consider a model of reaching movement that corresponds to the minimization of control effort. It is shown that this model is represented by the well-known Beta function. The representation can be used for the construction of fractional order models and also for modeling of asymmetric velocity...
In this paper, a novel method for robotic belt grinding based on support vector machine and particle swarm optimization algorithm is presented. Firstly, the dynamic model of the robotic belt grinding process is built using support vector machine method. This is the basis of our work because the dynamic model shows the relation between the removal and control parameters (contact force and robot's speed)...
Trajectory planning and optimization is a fundamental problem in articulated robotics. It is often viewed as a two phase problem of initial feasible path planning around obstacles and subsequent optimization of a trajectory satisfying dynamical constraints. There are many methods that can generate good movements when given enough time, but planning for high-dimensional robot configuration spaces in...
We propose an efficient stochastic scheme for minimum-time trajectory planning of a nonholonomic unicycle mobile robot under constraints on path curvature, velocities, and torques. This problem, which is known to be complex, often requires important runtimes, particularly if obstacles are present and if full dynamics is considered. The proposed technique is a fast variant of the random-profile approach...
Robot path planning in known and dynamic environments is feasible for mobile robots and its main purpose is to find a collision free path for a robot from an initial position to a goal position in an environment with obstacles. In this paper the goal position is assumed to be moving over the time. Also our environment includes moving obstacles as well as static ones. We present a new approach for...
This paper presents an embedded FPGA-based architecture to compute navigation trajectories along a harmonic potential. The goals and obstacles may be changed during computation. Large environments are split into blocks. This approach, together with the use of an increasing precision, enables an optimization of the overall computation time that is theoretically and experimentally studied. Implementation...
This paper proposes a novel method for planning point-to-point robot trajectories. With the new method, the requirement of an optimal path and the need of a slim motion due to the lack of free space can be compromised. The generated slim motion is suitable for applications where human-robot cooperation takes place. The new method is based on the synchronized links motion with a constant ratio of the...
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