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 oo ag...

This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning...

We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a leastsquares sense. A feedback acti...

One of the most important problems in robotics is motion planning problem, which its basic controversy is to plan a collision-free path between initial and target configurations for a robot. In the framework of motion planning for nonholonomic systems, the wheeled robots have attracted a significant amount of interest. The path planner of a wheeled autonomous robot has to meet nonholonomic cons...

in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...

This paper presents LQG-MP (linear-quadratic Gaussian motion planning), a new approach to robot motion planning that takes into account the sensors and the controller that will be used during execution of the robot’s path. LQGMP is based on the linear-quadratic controller with Gaussian models of uncertainty, and explicitly characterizes in advance (i.e., before execution) the a-priori probabili...

An integrated visual-based approach to motion planning and control of a nonholonomic wheeled mobile robot is presented. Vision is used to localize the obstacles and the robot and for real-time feedback control of the vehicle motion. An A∗based motion planner is used to search the discretized robot configuration space for collisionfree paths. Nonholonomic constraints are taken into account by pr...

This paper proposes a new approach to plan the motion for a car-like mobile robot navigating in static environments. A multiple waypoints trajectory planning is introduced in order to ensure the planned trajectory is smooth and is able to guide the robot to pass through all the required waypoints at the specified position, orientation, velocity and time. This presented approach uses cubic and q...

The objective of this paper is to minimize human casualties in terrorist attack such as 26/11. The combat robot [1] has been designed to tackle such a cruel terror attacks. This robot is radio operated, selfpowered, and has all the controls like a normal car. A wireless camera has been installed on it, so that it can monitor enemy remotely when required. It can silently enter into enemy area an...