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This paper proposes a novel curve smoothing method for path planners with curvature constraint in which the positions of the nodes from the planner are updated. For a smooth trajectory, we adopt Bezier curve where the optimal positions of its control points are found in order to satisfy curvature constraint. These curves are calculated in a piece-wise manner and connected to obtain the whole path...
This paper proposes path planning and motion control for a 3 DOF massage robot. The trajectory planning and implementation is achieved through the feedback of position coordinates of end effector thereby controlling the motion of the robot along X and Z axis. A new and compact design consisting of magnetic proximity sensors and magnets was proposed for the end effector design to detect the subject...
In order to improve adaptability of manipulator to automatic harvesting under the unstructured environment, a new tomato planting pattern and a picking manipulator structure form were designed based on biological characteristics, cultivation modes and engraftment features of tomato. After simplified fruits growth space of tomato from cuboid to rectangle equivalently, structure optimization mathematical...
Mobile devices are expected to perform complex tasks exceeding their current hardware capabilities. Traditional cloud-based solutions are often useful, but fail in adversarial environments with limited communication connectivity. This can be exemplified in battlefield scenarios where soldiers may require access to large processing capabilities, without sacrificing their own mobility. In this paper,...
This paper proposes a new model for robot navigation in dynamic environments. The robot learns the motions of the objects, does motion ahead predictions, and plans a collision-free path to the goal. In this paper two new predicting algorithms, based on the AprioriAll algorithm, and a planning algorithm, using a heuristic search, are proposed. A novel framework and a simulation environment were used...
The biggest challenges in modern robotics is service robots, which are able to execute many tasks for humans in their presence. This perspective naturally causes the problem of social navigation of mobile robots as well as human-robot interaction. In this article, we present the implementation of a navigation method on a mobile robot in indoor environment; we detail the algorithm and the implementation...
This paper proposes an efficient quadratic Bezier curve based approach for path planning of a quadcopter. It provides a path planning algorithm for the generation of smooth trajectories bounded by dynamic constraints of a quadcopter ensuring less computational load. The trajectories are required to be generated using available coordinates, including starting point and the point of obstacle provided...
Path planning of the unmanned aerial vehicle(UAV) under the condition of uncertainty of environment remains a challenge because of many constraints. In this paper, a multiple unmanned combat aerial vehicle (multi-UCAV) cooperative autonomous attack path planning method under complex and uncertain environment is put forward. A general framework of multi-UCAV cooperative combat and autonomous attack...
In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated...
This paper describes a novel navigation and guidance (NG) system designed to address the issue of receiving unreliable navigational data considering an unmanned surface vehicles (USVs). In the NG system, a confidence rate determination method has been designed to identify the uncertainty of the acquired data. According to the confidence rate, the risks from inaccurate data can be properly analysed...
In this paper, we present an integrated approach for path planning and control for autonomous mobile robots. Typically, path planners pass on the trajectory coordinates to a motion controller that controls steering or curvature of the autonomous robot. However, these approaches ignores the smoothness of trajectory or staying on the path at different times. Our proposed system is a novel approach,...
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...
The ability of autonomous vehicles to successfully replace human drivers depends on their capability to plan safe, efficient and usable paths in dynamically evolving traffic scenarios. This challenge gets more difficult when the autonomous vehicle has to drive through complex scenarios such as intersections which demand interactive behaviour between vehicles. Many autonomous vehicle demonstrations...
A novel learning algorithm based on Dynamic Movement Primitives (DMPs) is proposed for mobile robot path planning. First a path is artificially planned and the trajectories are used as sample set. The autonomous path planning of the robot is realized by establishing the DMPs model, utilizing the model parameters obtained by training with the sample trajectory. At last, the learned trajectory is generalized...
This paper deals with automation in navigation of differential drive robots in workspaces like offices, restaurants, etc. by mapping the entire workspace onto the robots in the form of a fixed reference co-ordinate frame which can then be used for position control and navigation. Generally, co-ordinate based navigation means a predefined path and correcting the robot on each point along its trajectory;...
This paper proposes an optimal planning technique using geodesic to achieve accurate as well as smooth trajectory for industrial robot manipulators. The shortest path connecting any two points on a Riemannian manifold along itself is called as the geodesic. The work volume of manipulator end-effector is divided into position and orientation space. A Riemannian metric is assigned to both the spaces...
The emerging advanced technology, automatic parking assist, makes it possible to free drivers' hands from bored parking maneuvers and offers the possibility of reducing driver stress. Toyota Prius hybrid vehicle unveiled in 2003 is the first automobile equipped with automatic parking assist system(APAS), the research and development in APAS has become a growing trend spread from automobile enterprises...
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...
When the autonomous vehicle is running in complex unstructured road and the reference path to guide the vehicle could not be obtained directly, at this time, only sparse task list point left as the reference information. To generate a safe and smooth path in this situation for autonomous vehicle to run, we propose an improved heuristic graph search path planning algorithm to solve the problem by considering...
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