An important issue in robotics research is path tracking control where the robot is required to follow a certain path. The error between the desired path and the actual path is to converge to zero. This problem is more complicated when the robot dynamics is considered. This paper proposes a real time trajectory tracking control for a differential drive wheeled mobile robot (DDWMR) in obstacle-f...

We aim at building a joint space trajectory generation system. Connected to a xed manipulator with sensory feedback, neural networks are expected to move the end-eeector from any start to any goal connguration without colliding with obstacles. The output of our system is a series of consecutive conngurations yielding a joint-space trajectory. Sensory information serves as the only source of kno...

In this article, we introduce a novel three-step approach for solving optimal control problems in space mission design. We demonstrate its potential by the example task of sending a group of spacecraft to a specific Earth L2 Halo orbit. In each of the three steps we make use of recently developed optimization methods and the result of one step serves as input data for the subsequent one. Firstl...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

Online trajectory compression is an importantmethod of efficientlymanagingmassive volumes of trajectory streaming data. Current online trajectory methods generally do not preserve direction information and lack high computing performance for the fast compression. Aiming to solve these problems, this paper first proposed an online direction-preserving simplification method for trajectory streami...

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of so-called exactly realizable trajectories is proposed. For exactly realizable desired trajectories exists a control signal which enforces the state to exactly fol...

This paper presents the experimental results of the tracking control of a car-trailer system. The proposed scheme involves three steps: 1) generate a path off-line using a path space iterative algorithm; 2) linearize the kinematic model about a trajectory which is constructed using the path; and 3) apply a time-varying linear quadratic regulator to track the trajectory. Experiments presented in...

This paper presents a hybrid feedback controller for path control of autonomous mobile robots. The controller combines reactive obstacle avoidance with global path replanning, enabling collision-free navigation along a preplanned path. Avoidance of local obstacles is accomplished by adjusting the vehicle’s lateral deviation from the path trajectory reactively. Global path replanning is performe...

This paper presents a genetic algorithm to solve the orienteering problem, which is concerned with finding a path between a given set of control points, among which a start and an end point are specified, so as to maximize the total score collected subject to a prescribed distance constraint. Employing several sets of test problems from the literature, the performance of the genetic algorithm i...

In this paper, a piezo actuated micro robot with active force control (AFC) capability is modelled and simulated for an in-pipe application. A mathematical model that describes the dynamic characteristics of the micro robot is first presented. The dynamic response of the robot system subjected to different input excitations is then investigated by initially considering a conventional proportion...