Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

Nazemizadeh, Mostafa; Rahimi, Hamed; Khoiy, Keyvan Amini

doi:10.1007/s11465-012-0304-9

Cited by 12 publications

(7 citation statements)

References 21 publications

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“…A Wheeled Mobile Robot (WMR) was an indirect solution to the optimal control strategy for optimal trajectory planning, taking into account the nonlinear dynamic model of the system and the nonholonom constraints [40].…”

Section: Trajectory Planning: Minimum Energymentioning

confidence: 99%

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

Cservenák¹

2021

Manufacturing Technology

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The AGVs or mobile robots are well used in today's manufacturing supply technologies and also can be used in engineering's education. The motion controlling and simulation of such vehicles are a crucial question. This paper introduces the steps of motion planning for a driverless carrier vehicle from the positions initially available to the speed of the wheels. The vehicle is located in the High-Tech Logistics Systems Laboratory of the Logistics Institute of the University of Miskolc. For motion controlling and simulation between two points the further modules are necessary: 1. path planner, 2. trajectory planner, 3. velocity-voltage converter using velocities gained from trajectory planner, 4. motion controlling and simulation of a motor dynamical model using voltages from the converter, 5. simulation of the path and 6. data processing. In this paper the first two modules are detailed, i.e. the path planning and then the trajectory planning. Path planning is based on a new approach, using Bezier-curves and Hermite curves. The trajectory planning tends to the mininum energy, which can be carried out by the examining the current consumption created in the other modules. The smaller consumption originated from the two curves determines the final path and trajectory.

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Section: Trajectory Planning: Minimum Energymentioning

confidence: 99%

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

Cservenák¹

2021

Manufacturing Technology

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“…The control algorithm that has been developed is designed to maintain the desired course [6][7][8]. This course in the final stage of the project will be given from the vision navigation.…”

Section: Control Algorithmmentioning

confidence: 99%

Some Problems of Navigation System for Criminalistic Robot

Głębocki

Kopyt

Kicman

2015

Advances in Intelligent Systems and Computing

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Abstract. In the paper authors presented some results of development of navigation system for criminalistic robot. Robot destination is to support police officers during forensic activities in the buildings when we have potential CBRN hazards. Robot is remotely controlled based on visual cameras observation but it has also autonomous navigation system. The robot is at the beginning of police action carry out hazard identification and, if they occur robot perform forensic activities. As part of its tasks is to make a photographic documentation of the event. This involves the registration status of the room a special 3D camera and take pictures of individual items and disclosed fingerprints. Then taken are indicated by the operator or the entire sample items. Charges are also forensic traces of biological and existing on-site chemicals substances. Robot should be able to perform most of the tasks normally performed by police forensic technicians. Big problem is when during forensic activities operator lost communications with the robot. By the existing on place CBRN hazards man can't enter the building where robot is lost. At this moment start work system of autonomy. Robot must return the same way how it arrive till the moment when operator will get communication with them again. The paper presents the autonomous control system that was created for visual navigation for police robot. The algorithm implemented on the platform already been simulated and tested in MATLAB/Simulink. The article presents the results of running the robot with the new algorithm.

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“…Furthermore, Nazemzadeh et al presented an optimum control strategy to plan the optimal trajectory for mobile robots. Through the indirect solution of the optimal control technique, they introduced the trajectory planning of mobile robots [4]. Yen and Cheng introduced an algorithm (fuzzy control with ant colony) that discovers the shortest pathway, distinguishes the entire obstacles found ahead of the robot via ultrasonic transducers, and modifies the mobile robot's turning angles to avoid obstacles [5].…”

Section: Introductionmentioning

confidence: 99%

Time Optimal Trajectory Generation with Obstacle Avoidance by Using Optimal Control Theory for a Wheeled Mobile Robot

Mosayebi

Kolahi

2023

Gazi University Journal of Science

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The design of the mobile robot path is important when obstacles are present in the environment. In the present study, the theory of optimal control for path design and obstacle avoidance via simultaneous minimization of the time and kinetic energy is proposed. Nonlinear equations of robot motion without simplification are considered in optimum control problems, and in order to prevent collisions, the potential functions are utilized. In the next phase, the cost function is proposed that includes velocity inputs, time, and the potential function for obstacle avoidance, in which the nonlinear equation of the motion of the mobile robot is deemed as a constraint. The final equations are numerically solved, and the capability and effectiveness of the presented method will be presented via different simulations on the mobile robot.

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

Cited by 12 publications

References 21 publications

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

Path and Trajectory Planning for an Automated Carrier Vehicle Equipped with two Conveyor Belts used in Manufacturing Supply

Some Problems of Navigation System for Criminalistic Robot

Time Optimal Trajectory Generation with Obstacle Avoidance by Using Optimal Control Theory for a Wheeled Mobile Robot

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