Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

This paper is concerned with the dynamic motion analysis and the planning of maximum payload path of flexible manipulators. The finite element method was employed for dynamic modelling of the system and the motion of the model was considered as a combination of the rigid displacement and the elastic deformation of each link. Each manipulator link was treated as a finite number of elements and t...

Given the sequence of phases and flight modes that represent the flight plan of a commercial aircraft, the initial and final states, and a set of path constraints, we solve the multi-phase optimal control problem of finding control inputs, switching times between flight modes and the corresponding trajectory of the aircraft that minimizes fuel consumption. The aircraft in flight is modeled as a...

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized usi...

One of the most important tasks to be performed by a mobile robot is to find a collision-free and smooth path to follow. Given a set of initial control points and using a Radial Basis Function (RBF), a method is proposed, in which is used the RBF’s property to approximate smooth functions to define a collision-free and short path. In this paper we formulate the training technique of an RBF as a...

In this work, we consider the problem of generating practically implementable path plan for flying unmanned aerial vehicles in 3D Complex environments. This problem is complicated by the fact that, generation of the dynamically and geometrically feasible flight trajectories for agile maneuver profiles requires search of nonlinear state space of the aircraft dynamics. This work suggests a two st...

This paper proposes a novel hybrid formation control technique for a group of differentially driven wheeled mobile robots in the Leader-Follower framework. In the proposed method, the leader robot of the group plans its path of navigation by an artificial potential field and the follower robots plan their path in order to follow the leader robot by maintaining a particular formation employing t...

The contribution of this dissertation is the presentation of a new algorithm for the construction of feedback controllers with global convergence, safety, and smoothness guarantees. This algorithm integrates motion planning’s emphasis on collision avoidance and algorithmic completeness with control theory’s insistence on the use of feedback to achieve robust, efficient, real time control. This ...

In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...