Velocity Planning for a Robot Moving along the Shortest Straight Line Path Among Moving Obstacles
نویسندگان
چکیده
منابع مشابه
Centralized Path Planning for Multi-aircraft in the Presence of Static and Moving Obstacles
This article proposes a new approach for centralized path planning of multiple aircraft in presence of the obstacle-laden environment under low flying rules. The problem considers as a unified nonlinear constraint optimization problem. The minimum time and control investigate as the cost functions and the maximum velocity and power consider as the constraints. The pseudospectral method applies ...
متن کاملOn-line Path Planning for Mobile Robots in Dynamic Environments
Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Par...
متن کاملNear-Minimum-Time Motion Planning of Manipulators along Specified Path
The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
متن کاملRobot Motion Planning in Dynamic Environments with Moving Obstacles and Target
This paper presents a new sensor-based online method for generating collision-free near-optimal paths for mobile robots pursuing a moving target amidst dynamic and static obstacles. At each iteration, first the set of all collision-free directions are calculated using velocity vectors of the robot relative to each obstacle and target, forming the Directive Circle (DC), which is a novel concept....
متن کاملThesis for the Degree of Licentiate of Engineering Motion Planning for Industrial Robots
Autonomous motion planning addresses the problem of nding collision-free paths for moving objects robots among obstacles. In this report we consider robots operating in workspaces occupied by stationary, completely known obstacles. We describe a new approach to probabilistic roadmap planners (PRMs). The overall theme of the algorithm, called Lazy PRM, is to minimise the number of collision chec...
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 1996