Generation and Departability of Gvg for Car-like Robot
نویسندگان
چکیده
This paper presents an algorithm, based on conventional GVG that enables a car-like robot find a collision free path from depart configuration to some goal position in an environment containing some convex obstacles. Prior research on GVG prescribed path for a circular robot. The circular robot is holonomic system, but this time GVG is used in nonholonomic system. The proposed algorithm enables the car-like robot depart the GVG to the goal position with the nonholonomic path.
منابع مشابه
Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
متن کاملSolving Path Following Problem for Car-Like Robot in the Presence of Sliding Effect via LMI Formulation
One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...
متن کاملAdaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملDesign and implementation of an automatic car turning system
In this paper, a control system is designed for automatic car turning. At first, the necessary information of car turning that were collected from the traffic bylaw, car driving training centers and traffic police are explained. Then, car turning is studied experimentally on several streets with different widths. Afterward, a proper path is designed for the automatic car turning system consider...
متن کاملمسیریابی حرکت روباتهای ماشینواره با روش پیشروی سریع
The Robot Motion Planning (RMP) problem deals with finding a collision-free start-to-goal path for a robot navigating among workspace obstacles. Such a problem is also encountered in path planning of intelligent vehicles and Automatic Guided Vehicles (AGVs). In terms of kinematic constraints, the RMP problem can be categorized into two groups of Holonomic and Nonholonomic problems. In the first...
متن کامل