Results 141 to 150 of about 3,384,624 (192)
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Velocity planning for autonomous vehicles
IEEE Intelligent Vehicles Symposium, 2004, 2004A new velocity planning scheme is proposed for the motion control of autonomously guided vehicles. The devised solution, based on interpolating cubic splines, achieves a smooth planning with continuous velocities and accelerations and a jerk minimization.
GUARINO LO BIANCO, Corrado +2 more
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Motion planning in velocity affine mechanical systems
International Journal of Control, 2010We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation.
Janusz Jakubiak +2 more
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Road database design for velocity profile planning
Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003., 2004More than 60% goods- and almost 90% passenger-transportation is realized in Germany by road traffic (G. Weise and W. Durth, 1997). On top of that, because Germany is geographically in the middle of the internal European market, it is used more and more by transit traffic.
Oleg Bauer, Robert Mayr
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Motion Planning in Dynamic Environments Using Velocity Obstacles
The International Journal of Robotics Research, 1998This paper presents a method for robot motion planning in dynamic environments. It consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on the cur rent positions and velocities of the robot and obstacles.
FIORINI, Paolo, Shiller Z.
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Autonomous-Driving Vehicle Control With Composite Velocity Profile Planning
IEEE Transactions on Control Systems Technology, 2021This article develops autonomous-driving vehicle control with a composite velocity profile (CVP) planning. An innovative technique of path planning is presented in the vehicle coordinates to allow complete lane change from any position at the origin lane to the center of the target lane.
Chung Choo Chung, Seung-Hi Lee
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On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018This paper presents orientation planning algorithms respecting the requirements of task space trajectory generation, particularly in robotics applications. The proposed algorithms fulfill the following conditions: (i) permitting to impose constraints at angular velocity and acceleration in addition to orientation at endpoints; (ii) rendering continuous
Mohammad Shahbazi +3 more
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Human-aware robot motion planning with velocity constraints
2008 International Symposium on Collaborative Technologies and Systems, 2008This paper addresses the issue of how high-speed robots may move among humans such that the robots complete their tasks efficiently while the humans in the environment feel safe and comfortable. It describes the Segway robotic platform used for this research and then discusses the three primary research areas needed to develop the human-aware motion ...
Dongqing Shi +5 more
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Planning of mobile robots under limitted velocity and acceleration
2014 22nd Signal Processing and Communications Applications Conference (SIU), 2014Manipulator systems or mobile vehicles are designed to perform a desired motion task, where they need to provide the space and time required for the task in trajectory equation forms. The most common form of a trajectory is polynomial. In this paper, we considered a polynomial trajectory for the problem of moving a mobile robot from its initial ...
Hossein Barghi Jond +2 more
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Planning velocities of free sliding objects for dynamic manipulation
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2004In this paper, a novel numerical approach is proposed to solve the initial velocities of the free sliding object for given initial and final configurations. To find the desired initial velocities for free sliding objects is a key step for implementing dynamic manipulation.
Qingguo Li, Shahram Payandeh
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Velocity and acceleration constrained trajectory planning by smoothing splines
2017 IEEE 26th International Symposium on Industrial Electronics (ISIE), 2017We develop a trajectory planning method of mobile robots in a two-dimensional plane. Trajectories are constructed as vector smoothing splines using B-splines as the basis functions. We plan trajectory for road-like path specified by piecewise linear boundaries as treated in our recent paper, and our specific focus in this paper is on introducing ...
Hiroyuki Kano, Hiroyuki Fujioka
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