An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage
نویسندگان
چکیده
منابع مشابه
Probability-based Optimal Path Planning for Two-wheeled Mobile Robots
Most dynamic systems show uncertainty in their behavior. Therefore, a deterministic model is not sufficient to predict the stochastic behavior of such systems. Alternatively, a stochastic model can be used for better analysis and simulation. By numerically integrating the stochastic differential equation or solving the Fokker-Planck equation, we can obtain a probability density function of the ...
متن کاملG3-splines for the Path Planning of Wheeled Mobile Robots
This paper deals with generation of smooth paths for the navigation of wheeled mobile robots by means of the iterative steering technique. A new motion planning primitive called G3spline or η-spline is proposed. It is a seventh order polynomial spline that permits the interpolation of an arbitrary sequence of points with associated arbitrary direction, curvature and curvature derivative. Adopti...
متن کاملGradient-Informed Path Smoothing for Wheeled Mobile Robots
Planning smooth trajectories is important for the safe, efficient and comfortable operation of mobile robots, such as wheeled robots moving in crowded environments or cars moving at high speed. Asymptotically optimal sampling-based motion planners can be used to generate such trajectories. However, to achieve the necessary efficiency for the realtime operation of robots, one often uses their in...
متن کاملObstacle-avoiding Path Planning for High Velocity Wheeled Mobile Robots
This paper presents a new motion planning algorithm for wheeled mobile robots in presence of known static obstacles, especially well-suited for high velocity situations. It takes into account several conditions traditionally attached to smooth path planning, i.e. paths with continuous derivative and upper-bounded curvature. It makes use of a global path planner which exploits polynomial G curve...
متن کاملPath Planning for Wheeled Mobile Robots Using Core Paths Graphs
This paper describes a novel procedure based on Core Path Graphs to generate continuously differentiable sub-optimal paths for wheeled mobile robots in the presence of obstacles. The operational scenario is first discretized with a finite dimensional grid of positions-directions pairs. A weighted and oriented graph is then defined whose nodes are the above mentioned grid points, and whose arcs ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2014
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2014/254503