Robot motion planning

Part 2 of ebook "Robotics: Modelling, planning and control" provides readers with contents including: Chapter 8 - Motion control; Chapter 9 - Force control; Chapter 10 - Visual servoing; Chapter 11 - Mobile robots; Chapter 12 - Motion planning;...

324p daonhiennhien 03-07-2024 3 1   Download

This papers presents the dynamic model of a 3D inverted pendulum model and applies to balanced motion planning for a humanoid robot. The obtained results show that the robot is able to keep balance during its movements.

10p vimarillynhewson 02-01-2024 8 4   Download

The application of autonomous mobile robots (AMRs) has gradually become crucial in smart factories due to the advantages of improving production efficiency and reducing labour costs. Motion planning has been a key part of AMR control development. This paper presents motion planning and position tracking control systems of an omnidirectional wheel AMR powered by a hybrid fuel cell and battery power source.

8p vimichaelfaraday 28-12-2023 7 6   Download

This paper presents planning the optimal trajectory using genetic algorithm. When the optimal trajectory is designed with considered constraints such as torque limit, range of motion of joints as well as velocity of joints.

15p viwolverine 11-07-2023 8 6   Download

This paper proposes an optimal motion planning method consisting of a genetic algorithm (GA), potential field (PF), and Dubins curve for a Car-like mobile robot to solve the problem of finding the shortest and most feasible path in the global environment.

11p vicaptainmarvel 21-04-2023 8 5   Download

In this study, we present an integrated socially aware navigation framework for mobile robots by incorporating the techniques proposed in our previous studies, including human detection and tracking, encoder and laser-based localization and mapping, approaching pose estimation, and social timed elastic band-based motion planning systems into a completed navigation framework.

13p vidudley 20-02-2023 8 5   Download

Lecture Artificial Intelligence - Chapter 25: Robotics. The main contents of this chapter include all of the following: The rubber hits the road, mobile robots and manipulators, degrees of freedom to define robot configuration, localization and mapping as probabilistic inference problems (require good sensor and motion models), motion planning in configuration space requires some method for finitization.

27p cucngoainhan0 10-05-2022 17 6   Download

In this study, we present an integrated navigation system for the autonomous mobile robot in the dynamic environment by incorporating the techniques proposed in our previous studies, including object detection and tracking system, localization system and motion planning system, into a completed navigation system. In addition, we propose an extended timed elastic band (ETEB) technique for online trajectory planning, which allows the mobile robot to proactively avoid obstacles in the surrounding environment.

15p 12120609 01-06-2020 26 1   Download

Results show that the proposed algorithm yields superior results as compared to the commonly used algorithm in terms of computational speed, form of path and robustness of searching ability, which potentially make it suitable for the real-time intraoperative planning in clinical operations.

8p praishy2 27-02-2019 13 1   Download

This paper proposed a gait planning for quadruped robot pet. Kinematic structure was established and two-phase discontinuous gait was suggested for straight-line motion of quadruped robot.

6p praishy2 27-02-2019 17 2   Download

This paper presents new methods to solve problems caused by the navigation of a self-directed Wheeled Mobile Robot (WMR) in unknown environments which may contain unknown-positions & dimensions regular rectangle static obstacles. This work has been implemented in several stages.

9p praishy2 27-02-2019 22 0   Download

In this paper, a method which intends to provide the motion in every point of the path with possible maximum velocity is described. In fact, the path is divided to transient and cruising parts and the maximum velocities are required only for the latter. The given motion is called “Time-optimal cruising motion”. Using the parametric method of motion planning, the equations for determining the motions are given.

22p dieutringuyen 07-06-2017 34 1   Download

(bq) part 2 book "computational geometry - algorithms and applications" has contents: delaunay triangulations, more geometric data structures, convex hulls, binary space partitions, robot motion planning, quadtrees, visibility graphs, simplex range searching.

196p bautroibinhyen20 06-03-2017 77 4   Download

Problems of nonholonomic mechanics, including many problems in robotics, wheeled vehicular dynamics and motion generation, have attracted considerable attention. These problems are intimately connected with important engineering issues such as path planning, dynamic stability, and control.Thus, the investigation of many basic issues, and in particular, the role of symmetry in such problems, remains an important subject today.

41p loixinloi 08-05-2013 50 1   Download

Springer Tracts in Advanced Robotics Volume 50 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen .Ron Alterovitz and Ken Goldberg Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures ABC .Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy, E-mail: siciliano@unina.it Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, E-mail: khatib@cs.stanford.

163p haiduong_1 03-04-2013 43 4   Download

The nonholonomic nature of the car-like robot is related to the assump- tion that the robot wheels roll without slipping. This implies the presence of a nonintegrable set of rst-order dierential constraints on the conguration variables. While these nonholonomic constraints reduce the instantaneous mo- tions that the robot can perform, they still allow global controllability in the conguration space. This unique feature leads to some challenging problems in the synthesis of feedback controllers, which parallel the new research issues arising in nonholonomic motion planning.

45p nhacchovina 23-03-2013 74 5   Download

We will limit our analysis to the case of a robot workspace free of obstacles. In fact, we implicitly consider the robot controller to be embedded in a hierar- chical architecture in which a higher-level planner solves the obstacle avoidance problem and provides a series of motion goals to the lower control layer. In this perspective, the controller deals with the basic issue of converting ideal plans into actual motion execution.

0p nhacchovina 23-03-2013 58 3   Download

Tham khảo sách 'information sciences 145 (2002) sensor based learning for practical planning of fine motion in robotics', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả

22p ngoctu239 27-11-2012 38 0   Download

Tham khảo sách 'lecture notes in control and information sciences editor: robot motion planning and control j p laumond', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả

354p ngoctu239 27-11-2012 54 2   Download

In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots.

280p kimngan_1 05-11-2012 81 7   Download