Results 121 to 130 of about 25,198 (167)
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An integrated architecture for motion-control and path-planning
Journal of Robotic Systems, 1998Summary: We consider the problem of learning how to control a plant with nonlinear control characteristics and solving the path-planning problem at the same time. The solution is based on a path-planning model that designates a speed field to be tracked, the speed field being the gradient of the equilibrium solution of a diffusionlike process which is ...
Csaba Szepesvári, András Lörincz
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An indoor path planning and motion planning method based on POMDP
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017With the continuous development of robot technology, robots' tasks and environment is becomes more and more complex. And the Mobile Service Robot's need stronger motion planning ability to deal with the uncertainty and dynamic. In this paper, path planning and motion planning of mobile robot in the indoor environment with uncertain pedestrian flows are
Wenjie Dong +4 more
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Global Path and Motion Planning
2012The global motion planning problem for tree climbing is challenging, as trees have an irregular and complex shape. To the best of the author’s knowledge, there is no related study that focuses on the global motion planning problem for tree-climbing robot.
Tin Lun Lam, Yangsheng Xu
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CHEAP PATHS FOR NONHOLONOMIC MOTION PLANNING
IFAC Proceedings Volumes, 2006Abstract In this paper an algorithm of computing a locally optimal nonholonomic path is presented. The algorithm exploits local dynamic programming method applied iteratively. Tests of the algorithm were carried out on the model of the unicycle robot.
Ignacy Duleba, Pawel Ludwików
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Path Planning for Orbital Motions
Robotics 98, 1998Path planning algorithms determine a path from start to goal locations, generally minimizing a cost such as time, distance, fuel, or other parameters. Often, this cost is estimated by the straight-line distance between two points or configurations. However, for a free flying space robot, a straight line is not necessarily the least costly path, because
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Local Path Planning And Motion Control For Agv In Positioning
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications, 2005Local-path-planning-method has been proposed for positioning autonomous guided vehicles ( AGVs). This method minimizes the cost function to constrain AGV's sudden accel- eration change (jerk). The method allows AGVs to malie the velocity and the curvature of the local path continuous, so that AGVs can smoothly travcl along the path.
Arata Takahashi +3 more
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Path-constrained motion planning for multi-manipulator systems
1999 European Control Conference (ECC), 1999The paper presents a systematic approach to the minimum-energy collision-free motion planning of many redundant manipulators along prescribed paths. It is based on using a parametric-decomposition method and a negative formulation of the Pontryagin Maximum Principle which handles efficiently various control and/or state constraints imposed on the ...
Dariusz Ucinski, Miroslaw Galicki
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3D rectilinear motion planning with minimum bend paths
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002Computing rectilinear shortest paths in two dimensions has been solved optimally using a number of different techniques. A variety of related problems have been solved, including minimizing the number of bends in the path, the total rectilinear distance, or some combination of both.
Robert Fitch +2 more
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Path quality measures for sensor-based motion planning
Robotics and Autonomous Systems, 2003Abstract A mobile robot requires the perception of its local environment for position estimation. Traditional planning methodologies build plans by considering the obstacles position in the environment, and assume that the sensorial system is able to localize the robot.
Luis Moreno 0001, Eladio Dapena
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Extracting optimal paths from roadmaps for motion planning
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2004We present methods for extracting optimal paths from motion planning roadmaps. Our system enables any combination of optimization criteria, such as collision detection, kinematic/dynamic constraints, or minimum clearance, and relaxed definitions of the goal state, to be used when selecting paths from roadmaps.
Jinsuck Kim +2 more
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