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Fuzzy Controller for Obstacle-Avoidance With a Non-Holonomous Mobile Robot

by Juan Pedro Uribe
"... This paper describes the design and development of a sensor based navigation system which makes it possible for a non-holonomous mobile robot to avoid obstacles using information on its environment picked up by a belt of ultrasonic sensors. To control the robot no preliminary information regarding i ..."
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This paper describes the design and development of a sensor based navigation system which makes it possible for a non-holonomous mobile robot to avoid obstacles using information on its environment picked up by a belt of ultrasonic sensors. To control the robot no preliminary information regarding

Fault tolerant task execution through global trajectory planning

by Christiaan J. J. Paredis, Pradeep Khosla, Christiaan J. J. Paredis, Pradeep K, Christiaan J. J. Paredis, Pradeep K. Khosla - Rel. Eng. Syst. Safety , 1996
"... Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failur ..."
Abstract - Cited by 18 (3 self) - Add to MetaCart
failure occurs. In this article, we present a trajectory planning algorithm that guarantees fault tolerance while simultaneously satisfying joint limit and obstacle avoidance requirements. 1

Obstacle Avoidance

by Anthony A. Maciejewski, Charles A. Klein, Charles A. Klein, For Kinematically
"... The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibility in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle avoidanc ..."
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The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibility in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle

SUBMITTED TO THE IEEE TRANSACTIONS ON ROBOTICS 1 Iterative MILP Methods for Vehicle Control Problems

by Matthew G. Earl
"... Abstract Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that add ..."
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that address this issue. We consider trajectory generation problems with obstacle avoidance requirements and minimum time trajectory generation problems. The algorithms use fewer binary variables than standard MILP methods and require less computational effort. I.

FORst: A 3-Step Heuristic For Obstacle-avoiding Rectilinear Steiner Minimal Tree Construction

by Yu Hu , Zhe Feng , Tong Jing , Xianlong Hong , Yang Yang , Ge Yu , Xiaodong Hu , Guiying Yan , 2004
"... Macro cells, IP blocks, and pre-routed nets are often regarded as obstacles in VLSI routing phase. Obstacle-avoiding rectilinear Steiner minimum tree (OARSMT) algorithms are often used to meet the needs of practical routing applications. However, OARSMT algorithms with multi-terminal nets routing st ..."
Abstract - Cited by 7 (1 self) - Add to MetaCart
Macro cells, IP blocks, and pre-routed nets are often regarded as obstacles in VLSI routing phase. Obstacle-avoiding rectilinear Steiner minimum tree (OARSMT) algorithms are often used to meet the needs of practical routing applications. However, OARSMT algorithms with multi-terminal nets routing

Steering Behaviors For Autonomous Characters

by Craig Reynolds , 1999
"... This paper presents solutions for one requirement of autonomous characters in animation and games: the ability to navigate around their world in a life-like and improvisational manner. These "steering behaviors" are largely independent of the particulars of the character's means of lo ..."
Abstract - Cited by 325 (1 self) - Add to MetaCart
of locomotion. Combinations of steering behaviors can be used to achieve higher level goals (For example: get from here to there while avoiding obstacles, follow this corridor, join that group of characters...) This paper divides motion behavior into three levels. It will focus on the middle level of steering

Iterative MILP methods for vehicle-control problems

by Matthew G. Earl, Senior Member - IEEE Transactions on Robotics
"... Abstract—Mixed-integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that addr ..."
Abstract - Cited by 20 (0 self) - Add to MetaCart
that address this issue. We consider trajectory-generation problems with obstacle-avoidance requirements and minimum-time trajectory-generation problems. These problems involve vehicles that are described by mixed logical dynamical equations, a form of hybrid system. The algorithms use fewer binary variables

Histogramic In-Motion Mapping For Mobile Robot Obstacle Avoidance

by J. Borenstein, Y. Koren - IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION , 1991
"... This paper introduces histogramic in-motion mapping(HIMM), a new method for real-time map building with a mobile robot in motion. HIMM represents data in a two-dimensional array, called a histogram grid, that is updated through rapid in-motion sampling of onboard range sensors. Rapid in-motion sampl ..."
Abstract - Cited by 115 (15 self) - Add to MetaCart
-motion sampling results in a map representation that is well-suited to modeling inaccurate and noisy range-sensor data, such as that produced by ultrasonic sensors, and requires minimal computational overhead. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance

Planning and Obstacle Avoidance for Mobile Robots

by Evangelos Papadopoulos, Ioannis Poulakakis - Proc. IEEE Int’l Conf. Robotics and Automation , 2001
"... A planning methodology for nonholonomic mobile manipulators that employs smooth and continuous functions such as polynomials is developed. The method decouples kinematically the manipulator from the platform by constructing admissible paths that drive it to a final configuration and is based on mapp ..."
Abstract - Cited by 4 (1 self) - Add to MetaCart
the order of the polynomials that are used in planning trajectories. The additional parameters required are computed systematically. It is shown how the method can be extended for avoiding obstacles of any number. 1.

Obstacle Avoidance and Proscriptive Bayesian Programming Obstacle Avoidance and Proscriptive Bayesian Programming

by Carla Koike , Cédric Pradalier , Pierre Bessière , Emmanuel Mazer , Rhône-Alpes Gravir , Carla Koike , Cédric Pradalier , Pierre Bessière , Emmanuel Mazer
"... Abstract -Unexpected events and not modeled properties of the robot environment are some of the challenges presented by situated robotics research field. Collision avoidance is a basic security requirement and this paper proposes a probabilistic approach called Bayesian Programming, which aims to d ..."
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Abstract -Unexpected events and not modeled properties of the robot environment are some of the challenges presented by situated robotics research field. Collision avoidance is a basic security requirement and this paper proposes a probabilistic approach called Bayesian Programming, which aims
Results 1 - 10 of 766