..., provide a closed form analytic solution for the time-optimal path planning problem for a point-mass mobile robot that explicitly considers its acceleration capabilities. This is done by separating the along-track and cross-track acceleration constraints. The latter may serve as a conservative nonsliding...

...Devesh K. Jha; Yue Li; Thomas A. Wettergren; Asok Ray Robots (e.g., AUVs) are expected to operate in environments with external disturbances and hence, considering the effects of these disturbances is critical for mission success. Consequently, the algorithms of path planning must be capable...

... procedure for calculating first-excursion times for a class of linear continuous, time-varying systems. In several examples, we show that the algorithm is both accurate and time-efficient. These are important attributes for real-time path planning in stochastic environments, and hence the work should...

... is the computational complexity of the nonlinear programming methods solving them ( 3 ). Some motion planning algorithms have successfully used the optimization method for real-time path planning by solving a reduced order optimization problem ( 4 5 ). However, the centralized nonlinear programming solvers used...

... and, subsequently, versus time. The proposed approach is validated and the effect of the number of superfluous cables on the value of minimum time is studied. The next notable challenges include time optimal path planning of cable-suspended robots. By developing a hybrid genetic algorithm and bang-bang control...

...DongSeop Lee; Jacques Periaux; Luis Felipe Gonzalez This paper presents the application of advanced optimization techniques to unmanned aerial system mission path planning system (MPPS) using multi-objective evolutionary algorithms (MOEAs). Two types of multi-objective optimizers are compared...

... and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing...

... path. 03 04 2006 16 01 2007 aircraft navigation collision avoidance remotely operated vehicles path planning trajectory generation coordinated guidance Dubins sets pythagorean hodograph Unmanned air vehicles of the future will be more autonomous than the remotely...

... vehicles is enabled by letting each vehicle consider other vehicles’ actions in its path planning procedure. By using the developed strategy, physically feasible paths for the vehicles to follow are generated, where constraints on aerial vehicles, including physical maneuverabilities, are considered...

... has been confirmed by experiments. 23 10 2004 25 04 2006 variable structure systems position control cranes hoists loading Lyapunov methods trolleys damping vibration control asymptotic stability path planning Over the past two decades, considerable research has...

..., simulations, and experimental validations are presented for our dynamic model and controller, plus the Velocity and Acceleration Cones . 24 09 2004 05 04 2006 mobile robot dynamic path planning kinematic and dynamic constraints velocity cone acceleration cone actuator saturation wheel...

... 2006 manipulator kinematics manipulator dynamics path planning nonlinear dynamical systems nonlinear control systems optimal control manipulators inertia matrix dynamics matrix equations The rest of the paper is organized as follows. Section 2 presents equations of motion...

... mobile robots stability adaptive control path planning fuzzy neural nets neurocontrollers end effectors control system synthesis fuzzy control Intelligent mobile manipulators have been given extensive attention in recent years since they have many applications such as in modern factories...

... , “ An Integrated Spatial Path-Planning and Controller Design Approach for a Hover-Mode Helicopter Model ,” Proc. IEEE Conf. Robot. Autom. , Barcelona, IEEE, New York, pp. 1902 – 1907 . Pathak , K. , Franch , J. , and Agrawal , S. K. , 2005 , “ Velocity and Position Control of a Wheeled...

... with spherical and cylindrical shape ( 1 2 3 4 5 ). To date all the research has focused on methods for control and path planning on flat and rigid surface. These methods are not well suited to rough terrain, since they generally do not consider vehicle and terrain physical properties. Here, the dynamic ill...

... performing similar tasks. 07 02 2005 14 11 2005 haptic interfaces robot dynamics path planning mobile robots inertia ellipse apparent inertia passive robot cobot effective mass When a human user interacts with a passive manipulandum, or more generally with a robot...

... Method of Singularity Avoidance in Platform Type Parallel Manipulators ,” Mech. Mach. Theory 0094-114X 10.1016/S0094-114X(97)00066-9 , 33 ( 7 ), pp. 965 – 974 . Dasgupta , B. , and Mruthyunjaya , T. , 1998 , “ Singularity-Free Path Planning for the Stewart Platform Manipulator...

... of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division December 3, 2003. Associate Editor: M. Goldfarb. 03 December 2003 03 12 2004 path planning...

... . Manuscript received by the ASME Dynamic Systems and Control Division June 24, 2002; final revision, October 14, 2003. Associate Editor: M. Goldfarb. 24 June 2002 14 October 2003 05 08 2004 path planning cranes hoists Lyapunov methods trolleys asymptotic stability velocity...

.... 28 July 2003 12 04 2004 flexible manipulators minimisation feedforward end effectors path planning maximum principle controllers stability feedback For flexible multi-link manipulators, three interesting control problems hold. The first one concerns the point to point...