Journal ArticleDOI
On the design of an obstacle avoiding trajectory: Method and simulation
Reads0
Chats0
TLDR
The paper suggests a new mathematical construction for the potential field used in the design of obstacle avoiding trajectories with the quickness of minimum computation and the compensation for the main drawbacks specific to the ''traditional approaches'' belonging to the possible field method in general.About:
This article is published in Mathematics and Computers in Simulation.The article was published on 2009-03-01. It has received 92 citations till now. The article focuses on the topics: Obstacle avoidance & Obstacle.read more
Citations
More filters
Journal ArticleDOI
Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control With Multiconstraints
TL;DR: The simulation results show that the proposed path-planning approach is effective for many driving scenarios, and the MMPC-based path-tracking controller provides dynamic tracking performance and maintains good maneuverability.
Journal ArticleDOI
An overview on fault diagnosis and nature-inspired optimal control of industrial process applications
TL;DR: The generic theory is discussed along with illustrative industrial process applications that include a real liquid level control application, wind turbines and a nonlinear servo system and nature-inspired optimal control.
Journal ArticleDOI
A novel trajectory-tracking control law for wheeled mobile robots
TL;DR: A novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective and a nonlinear control law is constructed in the Lyapunov stability analysis framework, achieving a global asymptotic stability of the system.
Journal ArticleDOI
Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning
TL;DR: This paper solves the problem of robotic path planning using a combination of A* algorithm and Fuzzy Inference and the resulting FIS was easily able to plan the path of the robot.
Journal ArticleDOI
EKF-Based Localization of a Wheeled Mobile Robot in Structured Environments
TL;DR: Good localization results prove the applicability of the method resulting from the classic LSQ for the purpose of an EKF-based localization of a mobile robot.
References
More filters
Book
Modern control engineering
TL;DR: This comprehensive treatment of the analysis and design of continuous-time control systems provides a gradual development of control theory and shows how to solve all computational problems with MATLAB.
Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Book
Feedback Control of Dynamic Systems
TL;DR: This introductory book provides an in-depth, comprehensive treatment of a collection of classical and state-space approaches to control system design and ties the methods together so that a designer is able to pick the method that best fits the problem at hand.
Journal ArticleDOI
The dynamic window approach to collision avoidance
TL;DR: This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot and safely controlled the mobile robot RHINO in populated and dynamic environments.