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.
In this paper, an improved path planning scheme based on Particle Swarm Optimization and Ferguson Splines is proposed. Firstly, a string of Ferguson Splines are used to describe a path for a mobile robot, and the path planning problem is then equivalent to the optimization of parameters of particular cubic Ferguson splines. Secondly, an improved Particle Swarm Optimization Algorithm, which performs...
The article researChed the path planning of the multiple mobile robots moving to the target position in the unknown environment, and used the dynamic programming algorithm to solve the minimum displacement techniques on the supervised computer. The mobile robot has the shape of cyLinder and its diameter, height and weight is 10cm, 15cm and 1.5kg. The controller of the mobile robot is MCS-51 microchip,...
Path planning is one of the fundamental aspects of intelligent vehicle navigation. Based on the kinematic model and the actual vehicle parking process, we proposed two improved geometriclly minimum radius and unequal radius path planning algorithms. The computer simulation results showed that two path planning algorithms had expanded significantly the scope of application, meanwhile the combination...
This paper proposes an algorithm for trajectory planning based on the motion of Brownian particles. One of the most popular approaches in path planning is to use the artificial potential fields method which, due to its easiness in implementation, might attract the robot towards a local minimum configuration, thus preventing it from reaching the desired final destination. Although there are different...
This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in...
Over the past decade, wireless sensor networks have advanced in terms of hardware design, communication protocols, resource efficiency, and other aspects. Recently, there has been growing interest in mobile wireless sensor networks, and several small-profile sensing devices that are able to control their own movement have already been developed. Unfortunately, resource constraints inhibit the use...
In order to realize accuracy control, a trajectory planning algorithm is designed for the 4 DOF articulated eggplant-picking robot. The structure selection of the robot is made according to the eggplant's growth circumstance and distribution space. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution...
We propose to use new shortest path computation methods based on Front propagation with Level Set approach for a radar application. This new radar function consists in computing most threatening trajectories & corridors in the radar coverage in order to adapt radar modes for detection optimization. This Radar problem may be declined as a variationnal problem solved by calculus of variations and...
Finding the shortest path between two vertices in a weighted graph is a well explored problem and several efficient algorithms for solving it have been reported. We propose a new variation of this problem which we call the detour admitting shortest path problem (DASPP). We present an efficient algorithm for solving DASPP. This is the first algorithm that constructs a shortest path such that each edge...
To address the local path planning problem for autonomous land vehicle in unstructured environments, a novel method combining navigation function and A* search is proposed. The computed navigation function in this paper embodies different constraints of vehicle, so in fact to be a near-feasible trajectory. Next the navigation function and sensed obstacles is used to construct the heuristic function,...
In this paper work, we present an algorithm for path planning to a target for mobile robot in unknown environment. An algorithm allows a mobile robot to navigate through static obstacles, and finding the path in order to reach the target without collision. The proposed strategy is designed in a grid-map form of an unknown environment with static unknown obstacles. Mobile robots move by sensing and...
In the few years, lots of scholars employ many methods to optimize the trajectory planning and control for industrial robots. However, these methods are difficult to gain the trajectory planning results with high accuracy. Thus, trajectory planning theory and method of industrial robot is presented in the paper. Firstly, trajectory planning theory of industrial robot is introduced and then trajectory...
As an important area of the high-tech research, robotics technology is attached importance by governments. It has become important equipment in manufacturing of a country's manufacture level and technological level. Robot kinematics analysis is the basis of robot motion control. According to the specific characteristics of MOTOMAN-HP20 manipulator, this paper established a kinematics model and set...
Many guidance laws for UAVs focus on path following. And trajectory tracking problem is enough when it satisfies path and time constrains. One more constraint will be considered in this research, that is, approaching direction to a terminal position. Two methods will be introduced; they are based on Pythagorean-Hodograph curve, and the Lyapunov vector field, respectively. The first algorithm consists...
This article is aimed at presenting a technique to generate bipedal walking trajectories that can be applied to humanoid robots. The proposed method is based on maintatining the dynamic balance by using the ZMP criterion throughout single support phases. To be able to reach this goal, we employed ZMP equations in spherical coordinates, so that the rate change of intrinsic angular momentum terms in...
Robotic devices are increasingly penetrating the human work spaces as stand alone units and helpers. It is believed that a robot could be easily integrated with humans, if the robot can learn how to behave in a socially acceptable manner. This involves a robot to observe, learn and comply with basic rules of human behaviors. As an example, one would expect a robot to travel in an environment without...
Path-tracking by using MPC (model predictive control) is a suitable control science solution for mobile robot navigation applications. Online MPC is reported by using short-term horizons that allow dealing with flexible path-tracking and reactive behaviors. The majority of MPC experimental research developed is based on the fact that the reference trajectory is known beforehand. However, under dynamic...
Planning and control environments for automated guided vehicles are predominantly dedicated to specialized vehicles, e.g. special carriers used in harbor areas for the transport of containers between quays and stackyards. The environment is completely different for commercial standard vehicles when operated under automated guidance. Typically, these are articulated vehicles with a high degree of variability,...
Parallel parking is challenge for all drivers say amateurs or the experts. An automatic car parking system is a solution to this ordeal. This vehicular technology has been implemented using many other systems but a cost effective, simple and accurate solution will be greatly appreciated. This paper explains in detail a simple and precise autonomous car-parking algorithm for Ackerman steering configuration...
In the present paper, we show a novel motion planning method, which finds an arm trajectory that is insusceptible to unknown disturbances in the direction where task accuracy is required. First, we show that the sensitivity of the ende-ffector to unknown disturbances is measured by the direction of singular vectors and the condition number of a matrix which represents the input-output relation of...
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.