Formation Control and Path Planning of Two Robots for Tracking a Moving Target
Authors: not saved
Abstract:
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. The second part is designed as the pathplanning for mobile robots. In this part desired trajectory of the robots for reaching thedesired position of formation is generated. The potential field method is used to pathplanning for the robots .This method enables the robot to achieve these tasks: to avoidobstacles, and to make ones way toward its new position. Finally, the effectiveness of theproposed algorithm is demonstrated through simulations.
similar resources
Optimal Observer Path Planning For Bearings-Only Moving Targets Tracking Using Chebyshev Polynomials
In this paper, an optimization problem for the observer trajectory in the bearings-only surface moving target tracking (BOT) is studied. The BOT depends directly on the observability of the target's position in the target/observer geometry or the optimal observer maneuver. Therefore, the maximum lower band of the Fisher information matrix is opted as an independent criterion of the target estim...
full textDesigning a predictive guidance and control system for maneuverable ground moving target tracking in 3D space using a Hexarotor
In this paper, the continuity of tracking a ground moving target using a Hexarotor is considered in the presence of sudden changes in direction, deceptive movements, temporary departure from the field of view (FOV) and changes in the height of the target. In this regard, a hierarchical guidance and control system for target tracking problem in an unknown environment and disturbances is proposed...
full textQuadrotor UAV Guidence For Ground Moving Target Tracking
The studies in aerial vehicles modeling and control have been increased rapidly recently. In this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. In this paper the UAV plays the role of a virtual leader for the UGVs. The system consists of a vision- based target detection algorithm that uses the ...
full textPSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety
In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...
full textA Fast Path Planning-and-Tracking Control for Wheeled Mobile Robots
This paper presents a fast method to plan the path, and control the position of wheeled mobile robots (WMRs) in a robot soccer game. In a WJ4R system with position control, when the target position is given, the controller will generate the reference path and then the WMR will move to the target position following the reference path. To tackle the dfficulties of the nonlinear control problem, t...
full textAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
full textMy Resources
Journal title
volume 1 issue 4
pages 16- 22
publication date 2013-03-01
By following a journal you will be notified via email when a new issue of this journal is published.
Hosted on Doprax cloud platform doprax.com
copyright © 2015-2023