This paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path...

Mobile robot navigation has stood as an open and challenging problem over decades. Despite the number of significant results obtained in this field, people still look for better solutions. Some mobile robots are subject to constraints of rolling without slipping and thus belong to non-holonomic systems. Mobile robots also are subject to navigate in environments cluttered with obstacles. Now, in...

Within the Industry 4.0 ecosystem, Inspection Robotics is one fundamental technology to speed up monitoring processes and obtain good accuracy performance of inspections while avoiding possible safety issues for human personnel. This manuscript investigates robotics inspection areas surfaces employing Unmanned Aerial Vehicles (UAVs). The contribution starts by addressing problem coverage path p...

In this project we present an end-to-end approach for controlling hybrid dynamical systems that are operating in a cluttered environment. Our problem setting poses a significant challenge for typical hybrid control systems because of the non-convex constraints introduced by obstacles. In fact, it is a generalization of a very recent approach for trajectory optimization for hybrid control, which...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

In free-floating mode, space manipulator systems have their thrusters off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the end effector location and the base attitude, using manipulator actuators only. Here, a path planning methodology satisfying this double goal is presented. The key idea is to...

This paper presents a novel design for mobile robot using particle swarm optimization (PSO) and adaptive NN control. The adaptive NN control strategy guarantees that robot with nonholonomic constraints can follow smooth trajectories. Based on this property, a PSO algorithm for path planning is proposed. The path planning generates smooth path with low computational cost to avoid obstacles, so t...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

This paper investigates the collaborative design problem aiming to achieve state-constrained bipartite tracking of interconnected robotic systems (IRSs) with prescribed performance. In practical applications, physical limitations robots are inevitable. Besides, it is difficult ensure that target trajectory known for each robot IRSs in advance. Thus, important follow and meanwhile obey state con...