Dynamic path planning of multiple mobile robots

... aim of the thesis is to develop dynamic path planning methods for mobile robots in dynamic environments This research consists of multi-agents mobile robot system construction and online path planning ... world, especially by the mobile robots Path planning is one of the central issues in mobile robot research The path- planning problem is to identify a co...

Ngày tải lên: 14/09/2015, 10:43

... navigational behaviours so that a robotic team can reach navigational goal, avoid hazards and simultaneously maintain in their intended formation The other common architecture for behaviour- based ... current behaviour and launch obstacle-avoidance behaviour 3.4 Encirclement Strategy The switching between target- tracking behaviour and target- circumnavigation behaviour pla...

Ngày tải lên: 15/09/2015, 22:43

... mR ˜  F1 ˜ ˜ F = F2  ˜ F3 ˜ B = 0 u1 ˜ 12 0 , u = uβa B (1. 10) (1. 11) (1. 12) (1. 13) 2 ˜ M 11 = Ixf + Ixw + Ixw Cβ + mR2 Cβ + Ixf Cββa (1. 14) ˜ M13 = 2Ixw Cβ + mR2 Cβ (1. 15) ˙ ˙˙ ˜ F1 = (Ixw ... simplification and assumption, the dynamics becomes( [16 ] and [18 ]): ˙ βa = uβa ˜ q ¨ ˜ q ˜ ˜˜ ˙ M (˜)q = F (˜, q ) + B u ˜ 13 (1. 9) with   α q = β  ˜ γ ˜  ˜ M 11 M13 ˜  M =...

Ngày tải lên: 14/09/2015, 08:37

... (4 .22 )  2IxW + mR2  M13 IxF IxF     F1 0     u1 F  0 0 F =  2 , B =  ,u = u2 F3  1 0 F4 where, M11 = IxF + IxW + IxW cos2 β + mR2 cos2 β + IxF cos2 (β + βa ) M13 = 2IxW ... + mR2 ) cos β sin β 2 − IxF cos (β + βa )sin(β + βa ) 2 ˙ ˙ −(2IxW + mR2 ) sin β αγ − 2IxF sin (β + βa )αγa ˙˙ ˙˙ F3 = 2( IxW + mR2 ) sin β αβ ˙ ˙ F4 = −IxF cos (β + βa ) sin (β + βa ) 2 − 2IxF...

Ngày tải lên: 14/09/2015, 08:37

... instantaneous center of rotation (ICR) cannot lie Vector Algebra Approach to WMR Kinematics page Forward Rate Kinematics (Actuated Inverse Solution) w w Consider again Figure Given the linear ... motion in the plane Figure 6: Pure Rotation and Instantaneous Center of Rotation All planar motions can be described as a pure rotation about an instantaneous center of rotation Top:...

Ngày tải lên: 26/10/2014, 14:31

... charge of the execution of the high-level velocity commands For each wheel, an 8-bit ST6265 microcontroller imple- Control of Wheeled Mobile Robots: An Experimental Overview PC ROBOT ωL PID microcontroller ... facts: Control of Wheeled Mobile Robots: An Experimental Overview 37 • The unicycle reaches the origin with a horizontal tangent (θ = or π), because...

Ngày tải lên: 26/10/2014, 14:32

... hierarchical framework for incremental path finding and optimized dynamic motion planning in unknown environments It searches a periodically updated map containing unknown information and finds a ... considering robots constraints in motion planning 1.2 Global Convergence of Path Planning Depending on whether there is complete information about the environment that the r...

Ngày tải lên: 14/09/2015, 13:00

... the fuzzy behaviors at different levels of the fuzzy behavior based architecture Both the membership function tuning and rule base learning are utilized in the evolutionary fuzzy system Fuzzy behaviors ... 7.1 The behavior based architecture 130 7.2 The evolution of fuzzy behavior based architecture 132 xiii 7.3 The behavior architecture of the team of socc...

Ngày tải lên: 16/09/2015, 08:31

... Main Contributions  Application of Controllability Rank Condition Theorem resulting in a general result on the controllability of nonholonomic robots  Application to multibody mobile robots ... Model   Constraints  G ( q, q, t ) =  ω (q) ⋅ q = Are constraints of the above form nonintegrable /nonholonomic? (integrability) Do constraints of the above form “re...

Ngày tải lên: 26/10/2014, 14:38

... d'Andrea-Novel, B Bastin, and G Campion Dynamic feedback linearization of nonholonomic wheeled mobile robots In Proceedings of 1992 International Conference on Robotics and Automation, pages 2527-2532, Nice, ... types of linearization: input-state linearization and input-output linearization Necessary and sufficient conditions have been established for each type of lin...

Ngày tải lên: 26/10/2014, 14:39