Papers by Keyword: Path Control

Abstract: Generally, the path given by the 2D global path planner is a complex trajectory concerning straight lines, circular arcs, quick turning motion or lane change motion, but in the simplest case, the trajectory can be a polygonal shape. For the case of a differential wheeled mobile robot without spin motions, this paper presents and analyzes the real continuous evolution of the robot between two adjacent straight line of a polygonal rote, concerning different angles. For the same model of the robot, the control uses alternatively two different algorithms: the first one is a classical solution in path tracking control and the second one is an algorithm based on a smooth curve function.

Abstract: . In current bio-engineering, most cell manipulations are manually done by skilled operators. The operations are tedious and time consuming, yet with very low yield rate. The cell manipulation is highly expected to be automated. In this research, we have developed an automated micro-manipulation system, in which a vision control scheme has been proposed and implemented for feedback control of the tool position and tool path. In this paper, a path control scheme using potential approach with configuration space and Laplacian potential field is newly proposed to automatically generate the tool path for moving. The performance of the new control scheme is demonstrated with simulation.