The workcycle time in automated car manufacturing lines can be reduced by optimizing the robot trajectories for oo-line programming. Thus, improved set points for the on-line robot controller are obtained. In this paper, direct transcription methods are described for solving the constrained trajectory optimization problems by using full dynamic robot models. The optimization methods can be used...

This paper presents a nonholonomic path planning method, aiming at taking into considerations of curvature constraint, length minimization, and computational demand, for car-like mobile robot based on cubic spirals. The generated path is made up of at most five segments: at most two maximal-curvature cubic spiral segments with zero curvature at both ends in connection with up to three straight ...

Nonlinear Strip-Wise Affine Transformation George Moustris, Spyros .G. Tzafestas Intelligent Robotics and Automation Laboratory Department of Signals, Control and Robotics School of Electrical and Computer Engineering National Technical University of Athens Zographou 15773, Athens, Greece [email protected], [email protected] Abstract In this paper a piecewise linear homeomorphism ...

This paper deals with distance computation between a car-like robot moving only forward and polygonal obstacles. We propose eecient geometric algorithms to compute the shortest paths to obstacles. We then derive the \visibility" domain in the presence of obstacles , i.e. the set of positions reachable from a starting connguration, by a collision-free shortest path unaffected by the presence of ...

| In this paper, we consider path planning for a car-like vehicle. We deene a new problem adding to the classical one a continuous-curvature constraint and a bound on the curvature derivative, so as to reeect the fact that a car-like vehicle can only reorient its front wheels with a nite velocity. As optimal solutions can contain an innnity of pieces, we propose a solution to compute Sub-optima...

This paper presents, analyzes and compares two different kinematic modeling methods for obtaining the kinematic model of general wheeled mobile robots. The two kinematic modeling methods are based on absolutely different concepts: on the one hand the constraints of each wheel and on the other the well known homogeneous transformation matrix theory. These methods are applied to the most common w...

This paper proposes a nonlinear path control for backward driving of a car-like mobile robot pushing trailer with off-axle hitching. The control law is constructed using high-gain design techniques and involves error coordinates expressed which are partially linked to the trailer and invariant properties with respect to the vehicle speed. The stability of the closed-loop system is analyzed usin...

Pythagorean hodograph curves (PH curves) have a number of advantages over other splines commonly used in planar robot path planning: (i) the integral of curvature is small; (ii) the curve, its length, curvature and total “bending energy” are known in closed-form; (iii) start and end positions and directions are straightforwardly usable as boundary conditions; and (iv) length can be traded off a...