ALGORITHM OF TARGET POINT SETTING FOR COLLISION-FREE RECONFIGURATION OF ROBOT SWARM

Designing an Optimal Stable Algorithm for Robot Swarm Motion toward a Target

In this paper, an optimal stable algorithm is presented for members of a robots swarm moving toward a target. Equations of motion of the swarm are based on Lagrangian energy equations. Regarding of similar research On the design of swarm motion algorithm, an equation of motion considered constraints to guarantee no collision between the members and the members and obstacles along the motion pat...

A Collision-free Algorithm of a Point-mass Robot Using Neural Networks

In this paper an artificial neural network approach is proposed to solve the findpath problem of a mobile point-mass robot which is required to move safely to a prescribed target in a priori known workspace. A novel velocity algorithm is designed to ensure that the robot moves towards its goal at all times and remains there once reached. Our method in the construction of a collision-free path f...

Energy Suboptimal Collision-Free Reconfiguration for Spacecraft Formation Flying

Parameters Identification of an Experimental Vision-based Target Tracker Robot Using Genetic Algorithm

In this paper, the uncertain dynamic parameters of an experimental target tracker robot are identified through the application of genetic algorithm. The considered serial robot is a two-degree-of-freedom dynamic system with two revolute joints in which damping coefficients and inertia terms are uncertain. First, dynamic equations governing the robot system are extracted and then, simulated nume...

An Efficient Algorithm for Workspace Generation of Delta Robot

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...