Integration of Path Planning, Sensing and Control in Mobile Robotics
نویسندگان
چکیده
Mobile MODRO is a modular mobile robot developed as a test platform for indoor applications at the Institute of Robotics, ETH Ziirich. The modularity is ensured for all components of the robot: electronics, sensors, software and mechanics. The benchmark task for the modular mobile robot is planned to be the distribution of internal mail in the new institute building of the Institute of Robotics, currently under construction. This paper reports the progress thus far with respect to hardware, sensors and software system.
منابع مشابه
Formation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملIntegrated Planning and Control of Mobile Robot with Self-Organizing Neural Network
Despite the many significant advances made in robotics research, few works have focused on the tight integration of task planning and motion control. Most integration works involve the task planner providing discrete commands to the low-level controller, which performs kinematics and control computations to command the motor and joint actuators. This paper presents a framework of the integrated...
متن کاملDynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کامل3D Path Planning Algorithm for Mobile Anchor-Assisted Positioning in Wireless Sensor Networks
Positioning service is one of Wireless Sensor Networks’ (WSNs) fundamental services. The accurate position of the sensor nodes plays a vital role in many applications of WSNs. In this paper, a 3D positioning algorithm is being proposed, using mobile anchor node to assist sensor nodes in order to estimate their positions in a 3D geospatial environment. However, mobile anchor node’s 3D path optim...
متن کاملAn Approach to Motion Planning of Indoor Mobile Robots
In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window local obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy g...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1993