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Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
Abstract
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensor-based planning, visibility, decision-theoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
The Vector Field Histogram -- Fast Obstacle Avoidance For Mobile Robots
- IEEE JOURNAL OF ROBOTICS AND AUTOMATION
, 1991
"... A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram(VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a ..."
Abstract
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Cited by 470 (23 self)
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a two-dimensional Cartesian histogram gridas a world model. This world model is updated continuously with range data sampled by on-board range sensors. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle
Low Level Driving Routines for the OMNI-Directional Robot
"... The Mecanum drive concept reinvented the wheel by providing vehicles with an omni-directional capability which is mechanically easy to construct and simple to implement in the control algorithm. This thesis aims to highlight the scope and implementation of the OMNI-robot built by the University of W ..."
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The Mecanum drive concept reinvented the wheel by providing vehicles with an omni-directional capability which is mechanically easy to construct and simple to implement in the control algorithm. This thesis aims to highlight the scope and implementation of the OMNI-robot built by the University
The kinematics for redundantly actuated omni-directional mobile robots
- in IEEE International Conference on Robotics and Automation
, 2000
"... Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as Nomadic model. For such mobile robot ..."
Abstract
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Cited by 12 (0 self)
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systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omni-directional mobile robots and examine singularity configurations of such systems. Then, a singular
Time-optimal trajectories for an omni-directional vehicle
- International Journal of Robotics Research
"... ..."
THE DESIGN AND FABRICATION OF AN OMNI-DIRECTIONAL VEHICLE PLATFORM By
, 2003
"... Copyright 2003 by ..."
Driver Assistance Software For An Omni-Directional
"... Omni-Directional wheelchairs can move in any direction (such as sideways), as well as the usual directions. This allows finer movements that are not possible with conventional wheelchairs. Such fine movements can be utilized by software to aid the user in navigating the wheelchair through scenarios ..."
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Omni-Directional wheelchairs can move in any direction (such as sideways), as well as the usual directions. This allows finer movements that are not possible with conventional wheelchairs. Such fine movements can be utilized by software to aid the user in navigating the wheelchair through scenarios
Development of a Omni-directional Self-Balancing Robot Wheelchair
"... Abstract In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motion ..."
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motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power
Tlale, “Improved Mecanum Wheel Design for Omni-directional Robots
- Proc. 2002 Australasian Conference on Robotics and Automation
, 2002
"... Omni-directional is used to describe the ability of a system to move instantaneously in any direction from any configuration. Omnidirectional robotic platforms have vast advantages over a conventional design in terms of mobility in congested environments. They are capable of easily performing tasks ..."
Abstract
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Cited by 16 (1 self)
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in environments congested with static and dynamic obstacles and narrow aisles. These environments are commonly found in factory workshops offices, warehouses, hospitals and elderly care facilities. This paper proposes an improved design for a Mecanum wheel for omni-directional robots. This design will improve
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