Reactive Motion Planning of a Wheeled Mobile Robot by Using Virtual Manipulators

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Kinematics, Dynamics and Motion Planning of Wheeled Mobile Manipulators

Abstract In this paper, We first propose a systematic modeling of the wheeled mobile manipulator built from a robotic arm mounted on a wheeled mobile platform by using Lagrange dynamics equation and nonholonomic dynamics Routh equation. Then we use artificial potential field as part of feedback to accomplish the wheeled mobile manipulator’s motion planning, and its stability is guaranteed by Ly...

Virtual teleoperation and reactive motion of a wheeled mobile manipulator

mobile robot online motion planning using generalized voronoi graphs

in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...

Formation Motion Planning for Payload Transport by Modular Wheeled Mobile Manipulators

ii To my family Pappa, Mom, Bhai, Bhabhi and Vrusti iii Acknowledgements I would like to express my sincerest gratitude to my advisor, Dr. Venkat Krovi, for giving me an opportunity to work under him. He was not only my mentor but also a friend and on occasions, a guardian guiding me through whenever I needed the most. His excellence in the field and enthusiasm to work extended hours has always...