The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distanc...

We propose a new proximal, path-following framework for a class of constrained convex problems. We consider settings where the nonlinear—and possibly non-smooth—objective part is endowed with a proximity operator, and the constraint set is equipped with a self-concordant barrier. Our approach relies on the following two main ideas. First, we re-parameterize the optimality condition as an auxili...

a shortest path problem is a practical issue in networks for real-world situations. this paper addresses the fuzzy shortest path (fsp) problem to obtain the best fuzzy path among fuzzy paths sets. for this purpose, a new efficient algorithm is introduced based on a new definition of ideal fuzzy sets (ifss) in order to determine the fuzzy shortest path. moreover, this algorithm is developed for ...