Temat: motion planning - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: Vehicle navigation in populated areas using predictive control with environmental uncertainty handling
Autorzy:: Skrzypczyk, K.
Mellado, M.
Tematy:: motion planning
prediction
uncertainty handling
game theory; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/229599.pdf Link otwiera się w nowym oknie
Opis:: This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: FDA* : a focused single‐query grid based path planning algorithm
Autorzy:: Boumediene, Mouad
Mehennaoui, Lamine
Lachouri, Abderazzak
Tematy:: motion planning
grid‐based
path planning
mobile robots; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/2141836.pdf Link otwiera się w nowym oknie
Opis:: Square grid representations of the state‐space are a commonly used tool in path planning. With applications in a variety of disciplines, including robotics, computational biology, game development, and beyond. However, in large‐scale and/or high dimensional environments the creation and manipulation of such structures become too expensive, especially in applications when an accurate representation is needed. In this paper, we present a method for reducing the cost of single‐query grid‐based path planning, by focusing the search to a smaller subset, that contains the optimal solution. This subset is represented by a hyperrectangle, the location, and dimensions of which are calculated departing from an initial feasible path found by a fast search using the RRT* algorithm. We also present an implementation of this focused discretization method called FDA*, a resolution optimal algorithm, where the A* algorithm is employed in searching the resulting graph for an optimal solution. We also demonstrate through simulation results, that the FDA* algorithm uses less memory and has a shorter run‐time compared to the classic A* and thus other graph‐based planning algorithms, and at the same time, the resulting path cost is less than that of regular RRT based algorithms.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Optimization - based approach for motion planning of a robot walking on rough terrain
Autorzy:: Belter, D.
Tematy:: walking robot
motion planning
rough terrain
locomotion; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/950764.pdf Link otwiera się w nowym oknie
Opis:: The paper presents a motion planning algorithm for a robot walking on rough terrain. The motion-planer is based on the improved RRT (Rapidly Exploring Random Tree)-Connect algorithm. The Particle Swarm Optimizati on (PSO) algorithm is proposed to solve a posture optimization problem. The steepest descent method is used to determine the postion of the robot's feet during the swing phase. The gradient descent method is used for smoothing the final path. The properties of the motion planning algorithm are presented in four cases: motion planning over a bump, concavity, step and rough terrain mocup. The maximal sizes of particular obstacle types traversable by the Messor robot with the new, optimized motion plan are given.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Motion planning of the underactuated manipulators with friction in constrained state space
Autorzy:: Ratajczak, A.
Janiak, M.
Tematy:: Constrained Motion Planning
underactuated manipulators
endogenous configuration space; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/384792.pdf Link otwiera się w nowym oknie
Opis:: This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control-affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian algorithm derived from an endogenous configuration space approach is used. The state space constraints are included into the system representation of the manipulator dynamics. The extended system is subject to regularisation because of the Jacobian singularities, then the unconstrained motion planning problem is solved for the regularised system. The solution of the motion planning problem for this system is equivalent to the solution of the constrained motion planning problem for an original system. Performance of the imbalanced Jacobian algorithm has been demonstrated with series of simulation for the two kinds of manipulators with and without friction.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: On dynamically consistent Jacobian inverse for non-holonomic robotic systems
Autorzy:: Ratajczak, J.
Tchoń, K.
Tematy:: non-holonomic system
motion
Jacobian inverse
dynamic consistency
metric
motion planning; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/229326.pdf Link otwiera się w nowym oknie
Opis:: This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI) has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system’s dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Real-time obstacle avoidance using harmonic potential functions
Autorzy:: Szulczyński, P.
Pazderski, D.
Kozłowski, K.
Tematy:: motion planning
obstacle avoidance
mobile robot
harmonic function; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/384802.pdf Link otwiera się w nowym oknie
Opis:: The paper presents a solution of motion planning and control of mobile robot in a two-dimensional environment with elliptical static obstacle based on hydrodynamics description. Theoretical background refers to solution of Laplace equation using complex algebra. The method of designing complex potential with respect to stationary elliptical obstacle and stationary goal is formally shown. Next, the planning motion problem is extended assuming that the goal is moving. Then results of motion planning is used in order to design closed-loop control algorithms which is based on decoupling technique. Theoretical considerations are supported by numerical simulations illustrating example results of motion planning and control.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Motion planning of wheeled mobile robots subject to slipping
Autorzy:: Zadarnowska, K.
Oleksy, A.
Tematy:: dynamics
kinematics
motion planning
slipping effect
wheeled mobile robot; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/384800.pdf Link otwiera się w nowym oknie
Opis:: Most dynamic models of wheeled mobile robots assume that the wheels undergo rolling without slipping, thus in general wheeled mobile robots are considered as nonholonomic systems. This paper deals with the problem of motion planning of mobile robots, whose nonholonomic constraints have been violated during the motion. The slipping phase is studied in details. A static model of interaction forces between wheels and ground is adopted by means of the singular perturbation approach [2]. A novel control theoretic framework for mobile robots subject to slipping is defined: both kinematics and dynamics of a mobile robot are modeled as a control system with outputs, the performance of a locally controllable system is nontrivial, the Jacobian of the mobile robot is defined in terms of the linear approximation to the system [36]. A novelty of the methodology consists in respecting of the analogy between the stationary and mobile robots and deriving performance characteristics from local controllability. In this paper we address the problem of motion planning by means of the Jacobian pseudo inverse algorithm. The effectiveness of the Jacobian pseudo inverse motion planning algorithm is demonstrated with reference to differential drive type robot (Pioneer 2DX) subject to slipping.
Dostawca treści:: Biblioteka Nauki

Artykuł

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Skocz do pozycji: 8.

Tytuł:: Impact of control representations on efficiency of local nonholonomic motion planning
Autorzy:: Duleba, I.
Tematy:: motion planning
nonholonomic systems
Lie-algebraic methods
controllability
optimization; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/202269.pdf Link otwiera się w nowym oknie
Opis:: In this paper various control representations selected from a family of harmonic controls were examined for the task of locally optimal motion planning of nonholonomic systems. To avoid dependence of results either on a particular system or a current point in a state space, considerations were carried out in a sub-space of a formal Lie algebra associated with a family of controlled systems. Analytical and simulation results are presented for two inputs and three dimensional state space and some hints for higher dimensional state spaces were given. Results of the paper are important for designers of motion planning algorithms not only to preserve controllability of the systems but also to optimize their motion.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Motion planning of the trident snake robot equipped with passive or active wheels
Autorzy:: Paszuk, D.
Tchoń, K.
Pietrowska, Z.
Tematy:: trident snake
motion planning
singularities
endogenous configuration space approach; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/201597.pdf Link otwiera się w nowym oknie
Opis:: We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: A framework for unknown environment manipulator motion planning via model based realtime rehearsal
Autorzy:: Um, D.
Ryu, D.
Tematy:: sensor based planning
randomized sampling
unknown environment motion planning
collision avoidance
cognitive planning; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/384972.pdf Link otwiera się w nowym oknie
Opis:: In this paper, we propose a novel framework for unknown environment planning of manipulator type robots. Unknown environment motion planning, by its nature, requires a sensor based approach. The problem domain of unknown environment planning, when compared to model based approaches, is notoriously harder (NPHARD) in terms of demanding technical depth especially for difficult cases. The framework we propose herein is a sensor based planner composed of a sequence of multiple MBPs (Model Based Planners) in the notion of cognitive planning using realtime rehearsal. That is, one can use a certain model based planner as a tactical tool to attack location specific problems in overall planning endeavor for an unknown environment. The enabling technology for the realtime rehearsal is a sensitive skin type sensor introduced in the paper.We demonstrate the feasibility of solving a difficult unknown environment problem using the introduced sensor based planning framework.
Dostawca treści:: Biblioteka Nauki

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