This paper presents a model predictive approach for collision avoidance of car-like robots. An optimal problem is formulated in terms of cost minimization under constraints. Information on each robot can be incorporated online in the nonlinear model predictive framework and kinematic constraints are treated by Karush-Kuhn-Tucker(KKT) condition. For distributed collision avoidance of multiple ro...

A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see [2]) that such systems cannot be stabilized to a point using smooth static-state feedback. In this note, we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the note gives an...

SYNOPSIS: The biorobotics group at CWRU follows a strategy of close interaction between engineers and neurobiologists to create improved robot designs and gain insights into neural control of legged locomotion. A series of legged vehicles has been developed. The first 2 robots were not based upon a particular insect. Robot I walked with insect gaits using network controllers. Robot II walked on...

This paper addresses the problem of the interface between a map-based path/trajectory planner and a physical mobile robot with under servo control. The connection between these two entities must match virtual motions of a modeled robot in the map-world of the path/trajectory planner and real robot motions in its physical world. We lead research works on motion controllers which are able to join...

Article history: Received 1 August 2008 Accepted 3 June 2010

This paper introduces a low cost INS/GPS algorithm for land vehicle navigation application. The data fusion process is done with an extended Kalman filter in cascade configuration mode. In order to perform numerical simulations, MATLAB software has been developed. Loosely coupled configuration is considered. The results obtained in this work demonstrate that a low-cost INS/GPS navigation system...

This paper addresses the problem of navigation of a carlike robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. Besides, the limited duration validity of the model used for planning requires the model and therefore the plan to be updated. In t...