منابع مشابه
A Motion Planning System for Mobile Robots
In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by mea...
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This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
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Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملReactive Motion Planning for Mobile Robots
Motion planning refers to the ability of a system to automatically plan its motions. It is considered central to the development of autonomous robots. In the last decade, much research effort was done on the application of probabilistic roadmaps methods (PRM) for different types of problems (Kavraki et al., 1996; Svestka & Overmars, 1997; Bohlin & Kavraki, 2000; Sánchez & Latombe, 2002). There ...
متن کاملMotion planning for formations of mobile robots
This paper is concerned with planning the motion of mobile robots in formation, which means certain geometrical constraints are imposed on the relative positions and orientations of the robots throughout their travel. Specifically, a method of planning motion for formations of mobile robots with nonholonomic constraints is presented. The kinematic equations developed allow a certain class of fo...
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ژورنال
عنوان ژورنال: Advances in Electrical and Computer Engineering
سال: 2012
ISSN: 1582-7445,1844-7600
DOI: 10.4316/aece.2012.01010