An Optimal Control Strategy For Collision Avoidance Of Mobile Robots In Non Stationary Environments
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| Author | : National Aeronautics and Space Administration (NASA) |
| Publisher | : Createspace Independent Publishing Platform |
| Total Pages | : 32 |
| Release | : 2018-08-16 |
| Genre | : |
| ISBN | : 9781725105805 |
An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy. Kyriakopoulos, K. J. and Saridis, G. N. Unspecified Center NASA-CR-191868, NAS 1.26:191868, RPI-CIRSSE-83 NAGW-1333...
| Author | : Konstantinos J. Kyriakopoulos |
| Publisher | : |
| Total Pages | : 16 |
| Release | : 1991 |
| Genre | : |
| ISBN | : |
| Author | : Victor Vladareanu |
| Publisher | : Infinite Study |
| Total Pages | : 11 |
| Release | : |
| Genre | : |
| ISBN | : |
The paper presents the navigation of mobile walking robot systems for movement in non-stationary and non-structured environments. In the first approach are presented main elements for the successful completion of intelligent navigation.
| Author | : |
| Publisher | : |
| Total Pages | : 730 |
| Release | : 1993 |
| Genre | : Aeronautics |
| ISBN | : |
| Author | : |
| Publisher | : |
| Total Pages | : |
| Release | : 1994 |
| Genre | : Government publications |
| ISBN | : |
| Author | : Alan A. Desrochers |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 361 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461536340 |
Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational, and sensing conditions impose harsh constraints on the ability of both man and machines to function productively. In this environment, intelligent automation and robotics are essential complements to the capabilities of humans. In the development of the United States Space Program, robotic manipulation systems have increased in importance as the complexity of space missions has grown. Future missions will require the construction, maintenance, and repair of large structures, such as the space station. This volume presents the effords of several groups that are working on robotic solutions to this problem. Much of the work in this book is related to assembly in space, and especially in-orbit assembly of large truss structures. Many of these so-called truss structures will be assembled in orbit. It is expected that robot manipulators will be used exclusively, or at least provide partial assistance to humans. Intelligent Robotic Systems for Space Exploration provides detailed algorithms and analysis for assembly of truss structure in space. It reports on actual implementations to date done at NASA's Langley Research Center. The Johnson Space Center, and the Jet Propulsion Laboratory. Other implementations and research done at Rensselaer are also reported. Analysis of robot control problems that are unique to a zero-gravity environment are presented.
| Author | : IEEE Control Systems Society |
| Publisher | : Institute of Electrical & Electronics Engineers(IEEE) |
| Total Pages | : 532 |
| Release | : 1991 |
| Genre | : Technology & Engineering |
| ISBN | : |
| Author | : |
| Publisher | : |
| Total Pages | : 1012 |
| Release | : 1994-03 |
| Genre | : Government publications |
| ISBN | : |
| Author | : Shaygan Kheradpir |
| Publisher | : |
| Total Pages | : 256 |
| Release | : 1987 |
| Genre | : Manipulators (Mechanism) |
| ISBN | : |
| Author | : Andrey V. Savkin |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 360 |
| Release | : 2015-09-25 |
| Genre | : Technology & Engineering |
| ISBN | : 0128037571 |
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
