Optimisation-based verification process of obstacle avoidance systems for unicycle-like mobile robots
نویسندگان
چکیده
منابع مشابه
Planning and Obstacle Avoidance for Mobile Robots
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 mapping the nonholonomic constraint to a space where it can be trivially satisfied. In addition, the ...
متن کاملEvolutionary Optimisation for Obstacle Detection and Avoidance in Mobile Robotics
This paper presents an artificial evolutionbased method for stereo image analysis and its application to real-time obstacle detection and avoidance for a mobile robot. It uses the Parisian approach, which consists here in splitting the representation of the robot’s environment into a large number of simple primitives, the ”flies”, which are evolved according to a biologically inspired scheme. R...
متن کاملFormal verification of obstacle avoidance and navigation of ground robots
This article answers fundamental safety questions for ground robot navigation: Under which circumstances does which control decision make a ground robot safely avoid obstacles? Unsurprisingly, the answer depends on the exact formulation of the safety objective as well as the physical capabilities and limitations of the robot and the obstacles. Because uncertainties about the exact future behavi...
متن کاملObstacle avoidance for wheeled mobile robotic systems
• A submitted manuscript is the author's version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version ...
متن کاملPolynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems
A planning methodology for nonholonomic mobile manipulators in the presence of obstacles is developed. The method employs smooth and continuous functions, such as polynomials, and it is very fast, easy to use and computationally inexpensive. The core of the method is based on mapping the nonholonomic constraint to a space where it can be satisfied trivially. In this paper, the method is first e...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Automation and Computing
سال: 2011
ISSN: 1476-8186,1751-8520
DOI: 10.1007/s11633-011-0590-4