In the context ofreal-time collision /obstacle avoidance this paper investigates a direct -method of estimating dense scene structure and image motion. Our proposed method combines both stereo vision (invoIving geometric constraints) and optical flow (involving photometric constraints). It is applied to multiple motion images (i.e., images with vehicle ego-motion plus obstacle motion). Modijica...

in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

The cybercars are electric road wheeled non-holonomic vehicles with fully automated driving capabilities. They contribute to sustainable mobility and are employed as passenger vehicles. Non-holonomic mechanics describes the motion of the cybercar constrained by non-integrable constraints, i.e. constraints on the system velocities that do not arise from constraints on the configuration alone. Fi...

Motion generation gives the joint positions, speeds and accelerations of manipulators, at every moment. ?Ve assume that the motion are polynomial trajectories, that ensure joint acceleration continuity. Usual kinematical constraints, obtained with approximations, are not always suflcient, then we will focus on actuators constraints on voltages and currents.

| This paper addresses dynamic trajectory planning, which is deened as motion planning for a robot A moving in a dynamic workspace W, i.e. a workspace cluttered up with stationary and moving obstacles. Besides A is subject both to kinematic constraints, i.e. constraints involving the connguration parameters of A and their derivatives, and dynamic constraints, i.e. constraints on the forces, the...

introduction: the critical dependence of healthcare services systems on information along with the indigenous restriction of paper documents in satisfying this need has caused a trend toward computer information systems. the main goal of such systems is to achieve electronic health records (ehr). however, implementation of ehr in healthcare organizations is difficult and complicated. this resea...

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

This paper presents a framework to use collision avoidance methods in the majority of existing mobile robots (that have any shape, and kinematic and dynamic constraints). The solution proposed is a vehicle abstraction layer based on transforming the space where these methods work, onto another one in which the constraints are implicitly represented. This space incorporates the vehicle kinematic...