A three-layered hierarchical path control system for mobile robots: Algorithms and experiments

Guldner, J.; Utkin, Vadim I.; Bauer, Rudolf

doi:10.1016/0921-8890(94)00025-w

Cited by 22 publications

(6 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…According to different emphasis of path planning, the researchers have carried out related researches. Guldner J. et al, [4] proposed a three-layer control structure is suitable for clutter environment robot path planning. In his research the first layer is the global path planning.…”

Section: State Of Artsmentioning

confidence: 99%

“…As we discussed above, we adopt the MCM (Meandering Current Mobility) model [4] to study the effect of the current to AUV's cruise. Firstly we decompose the instantaneous velocity field to get the current direction vector, and then calculate the angle between the direction vector and the tangent vector of cruise path to measure the energy consumption.…”

Section: Performance Analysismentioning

confidence: 99%

See 1 more Smart Citation

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Liu¹,

Chen²,

Xiao-ling³

et al. 2013

IJMUE

View full text Add to dashboard Cite

show abstract

Section: State Of Artsmentioning

confidence: 99%

Section: Performance Analysismentioning

confidence: 99%

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Liu¹,

Chen²,

Xiao-ling³

et al. 2013

IJMUE

View full text Add to dashboard Cite

show abstract

“…A mobile robot is to be guided to a specifi ed goal point through Guldner, Utkin, and Bauer 1995]. A mobile robot is to be guided to a specifi ed goal point through Guldner, Utkin, and Bauer 1995].…”

Section: Collision Avoidance For Mobile Robots In a Known Planar Workmentioning

confidence: 99%

Advanced Robotics

2009

Sliding Mode Control in Electro-Mechanical Systems, Second Edition

View full text Add to dashboard Cite

The control of robots, mobile robots, and manipulator arms alike, has fascinated control engineers for several decades. Robots are complex mechanical systems with highly nonlinear dynamics. Hence, high-performance operation requires nonlinear control designs to fully exploit a robot's capabilities.After describing the dynamic models for robots, this chapter fi rst discusses four basic sliding mode control design alternatives for the classic trajectory tracking problem, in which the robot is asked to follow a prescribed trajectory. Next, advanced robot control is studied using the example of gradient tracking control, in which the robot motion is guided online by the gradient of an artifi cial potential fi eld to avoid collisions with obstacles in its workspace. The chapter concludes with four practical examples of sliding mode control in advanced robotics. n ( , ) ∈ℜ ×1 comprises coupling forces/torques between the masses as well as gravity and friction, and τ ∈ ℜ n×1 are the generalized input forces/torques. Equation 12.1.2 describes the principle relationship between inertial motion of the system masses, internal forces/torques N q q n ( , ) ∈ℜ ×1 , and external input forces/ torques τ, and hence is well-suited for control design.Traditionally, robots have been categorized into "robot manipulators" and "mobile robots." Robot manipulators usually have a fi xed base and consist of a number of rigid links, connected by translational or rotational joints. A set of q ∈ ℜ n×1 confi guration variables of the n joints prescribes a robot confi guration, also called robot posture. The set of all possible confi gurations Downloaded by [Universite Laval (UNIVERSITE LAVAL PAVILLON JEAN CHARLES BONENFANT)] at 01:46 12 September 2016

show abstract

“…• Decision making mechanisms [15,18,27,30,39,46,54] • Data acquisition sub-systems [7,15,17,25,45] • Data and signal processing sub-systems [4,7,15,20,23,25,31,35,45,51] • Adaptive control system and related AI sub-systems [11,13,15,16,18,24,27,36,40,54] • Computational hardware sub-systems [7,15,26,28,45,50,55] • Operating software and related sub-systems [14,45,48,50] • Structure of the control software and related issues [18,36,37,52,54] • Sensory system and related issues [15,23,…”

Section: Introductionmentioning

confidence: 99%

An integrated approach to the conceptual design and development of an intelligent autonomous mobile robot

Yavuz

2007

Robotics and Autonomous Systems

View full text Add to dashboard Cite

A three-layered hierarchical path control system for mobile robots: Algorithms and experiments

Cited by 22 publications

References 16 publications

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Energy Priority and Current Model Based AUV Cruise Path Planning Algorithm

Advanced Robotics

An integrated approach to the conceptual design and development of an intelligent autonomous mobile robot

Contact Info

Product

Resources

About