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Optimal motion planning based on path length minimisation
Robotics and Autonomous Systems, 2017Abstract In this paper, the path planning problem for a single autonomous robot treading on a static terrain is solved using optimal control theory. The performance measure selected for the optimal control formulation is the path length between a predefined initial and final position on an inertial frame of reference. The terrain features are assumed
Jinu Krishnan +3 more
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Gaussian random paths for real-time motion planning
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016In this paper, we propose Gaussian random paths by defining a probability distribution over continuous paths interpolating a finite set of anchoring points using Gaussian process regression. By utilizing the generative property of Gaussian random paths, a Gaussian random path planner is developed to safely steer a robot to a goal position. The Gaussian
Sungjoon Choi +2 more
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Constrained motion control on a hemispherical surface: path planning
Journal of Neurophysiology, 2014Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding paths and their relationship with task dynamics, we simulated various control policies.
Sigal, Berman +2 more
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Motion‐ and Uncertainty‐aware Path Planning for Micro Aerial Vehicles
Journal of Field Robotics, 2014Localization and state estimation are reaching a certain maturity in mobile robotics, often providing both a precise robot pose estimate at a point in time and the corresponding uncertainty. In the bid to increase the robots' autonomy, the community now turns to more advanced tasks, such as navigation and path planning.
Markus W. Achtelik +4 more
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Research on Mobile Robot’s Motion Control and Path Planning
2009In this article, the kinematics modeling for the practical robot and movement formula have been established, whose are considered by the feasibility and reliability of actual control, and controls the movement of mobile robot by the planning route, guides the robot to complete the mission. On the other hand, ant colony optimization algorithm is used to
Shigang Cui +4 more
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Coupled Path and Motion Planning for a Rover-Manipulator System
This paper introduces a motion planning strategy aimed at the coordination of a rover and manipulator. The main purpose is to fetch samples of scientific interest that could be placed on difficult locations, requiring to maximize the workspace of the combined system.Pérez-del-Pulgar-Mancebo, Carlos Jesús +4 more
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A generic geometrical path planning for the coordinated motion of two manipulators
Journal of the Chinese Institute of Engineers, 1992In this paper, a generic geometrical path planning is developed for the coordinated motion of two manipulators. For a redundant robotic system consisting of two non-redundant manipulators, we can define two trajectories for these two manipulators, by applying the method presented in this paper, and use the direct inverse kinematic solution of each ...
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BPOMP: A Bilevel Path Optimization Formulation for Motion Planning
2022 American Control Conference (ACC), 2022Changhao Wang +5 more
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Dynamic Path Planning and Motion Control of Microrobotic Swarms for Mobile Target Tracking
IEEE Transactions on Automation Science and Engineering, 2023Jiangfan Yu, Xingzhou Du, Yuezhen Liu
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