نتایج جستجو برای: trajectory prescribed path control problem

تعداد نتایج: 2269770  

Journal: :CoRR 2013
Matin Jafarian Claudio De Persis

In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller than the prescribed one. This assumption results in very simple control laws that direct the agents closer or away from each other and take values in finite se...

2013
Atef A. Ata Amr El Zawawi Mostafa A. E. Razek

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque requir...

1995
Philippe GARNIER Cyril NOVALES

This paper addresses the problem of the interface between a map-based path/trajectory planner and a physical mobile robot with under servo control. The connection between these two entities must match virtual motions of a modeled robot in the map-world of the path/trajectory planner and real robot motions in its physical world. We lead research works on motion controllers which are able to join...

Journal: :international journal of preventive medicine 0
sara karimi maryam radahmadi mohammad fazilati hamid azizi-malekabadi hojjatallah alaei

background:  the  current study examined race and ethnic differences in the separate and combined (additive) effects of anxiety, depression and problem drinking on the baseline and trajectory of subjective health among adult men in the united states. methods:  this longitudinal study used data from the fragile families and child well-being study. we included 4655 men, composed of 2407 blacks, 1...

2007
Y. Nakamura T. Suzuki

The orientation of a space satellite may change due to the actuation of an attached manipulator. Such a motion is subject to the non-integrable and, therefore, nonholonomic constraints induced by the angular momentum conservation. Some of the previous literatures proposed methods to produce a desired change of the satellite orientation by controlling the attached manipulator. These methods trea...

2015
José A. Fernández-León Gerardo G. Acosta Miguel A. Mayosky Oscar C. Ibáñez

AbSTRACT This work is intended to give an overview of technologies, developed from an artificial intelligence standpoint, devised to face the different planning and control problems involved in trajectory generation for mobile robots. The purpose of this analysis is to give a current context to present the Evolutionary Robotics approach to the problem, which is now being considered as a feasibl...

2005
Martin Seyr Stefan Jakubek

For a two-wheeled differentially driven mobile robot a trajectory tracking concept is developed. A trajectory is a time-indexed path in the plane, i.e. in the three-dimensional configuration space consisting of position and orientation. Due to the nonholonomic nature of a rolling wheel, the system cannot be stabilized by a continuous time-invariant feedback or by feedback linearization. A novel...

1998
Guilherme de A. Barreto Aluízio F. R. Araújo Marcelo de O. Rosa

This work reports on the application of artificial intelligence and neural networks techniques to the problem of trajectory planning and control of a mobile robot with low sensory power. The aim is to determine a spatial sequence through which the robot must navigate forming a trajectory between the starting and goal points. In the first test, the environment has no obstacles and a search tree ...

Journal: :international journal of advanced design and manufacturing technology 0
m. t. ghorbani

in this paper, the problem of optimal path following for a high speed planing boat is addressed. first, a nonlinear mathematical model of the boat’s dynamics is derived and then the serret-frenet frame is presented to facilitate the path following control design. to satisfy the constraints on the states and the input controls of the boat's nonlinear dynamics and minimize both the cross tracking...

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