Trajectory Planning and Stabilizing Using Visual Feedback and Transputer Network
نویسندگان
چکیده
The paper describes development and experimental implementation of a visual control for the miniature laboratory robot Khepera. The robot and its stationary environment are observed by a static CCD camera, a collision free path in the two dimensional workspace is determined by artificial potential field methods and it is realized using real-time visual feedback. Computations are performed on T9000 new generation transputers. The system calibration, motion prediction and tracking, and trajectory stabilization for nonholonomic vehicle are considered.
منابع مشابه
Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملMotion Planning and Trajectory Control of an Underactuated Three-Link Robot via Dynamic Feedback Linearization
We present a new method for motion planning and feedback control of three-link planar robot arms with a passive rotational third joint. These underactuated mechanical systems are shown to be fully linearizable and input-output decoupable by means of a nonlinear dynamic feedback, provided a physical singularity is avoided. The linearizing output is the position of the so-called center of percuss...
متن کاملGPS Jamming Detection in UAV Navigation Using Visual Odometry and HOD Trajectory Descriptor
Auto-navigating of unmanned aerial vehicles (UAV) in the outdoor environment is performed by using the Global positioning system (GPS) receiver. The power of the GPS signal on the earth surface is very low. This can affect the performance of GPS receivers in the environments contaminated with the other source of radio frequency interference (RFI). GPS jamming and spoofing are the most serious a...
متن کاملTrajectory Planning Using High Order Polynomials under Acceleration Constraint
The trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. A common way to create trajectories is to deal with polynomials which have independent coefficients. This paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...
متن کاملIntelligent Control for Robot Manipulators by Learning
An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...
متن کامل