Papers by Keyword: Motion Planning

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Authors: Jian Yang, Mi Dong
Abstract: In this paper, the real-time trajectory planning problem is considered for a differential vehicles in a dynamically changing operational environment. Some obstacles in the environment are not known apriori, they are either static or moving, and classified to two types: “hard” obstacles that must be avoided, and “soft” obstacles that can be run over/through. The proposed method presents trajectories, satisfying boundary conditions and vehicle’s kinematic model, in terms of polynomials with one design parameter. With a cost function of L2 norm, an optimal feasible trajectory is analytically solved for “hard” obstacles. By relaxing the optimal solution, “soft” obstacles are prioritized to be bypassed or overcome. The proposed method offers an automatic and systematic way of handling obstacles.The simulation is used to illustrate the proposed algorithm.
339
Authors: Wanhui Liu, Le Cheng
Abstract: In this paper, an improved cockroach swarm optimization, called cockroach swarm optimization with expansion gird (CSO-EG), is presented and applied to motion planning of autonomous mobile robot. In CSO-EG, the expansion gird method is used to model workspace. By computing the weight factor, the Euclidean distance from each candidate to the destination cell and the pheromone strength of each candidate cell are use as the heuristic information together. For increasing the variety of path, a random choosing cell strategy is introduced. The simulation experiments demonstrate that the CSO-EG algorithm can quickly get the optimal or near-optimal path in a workspace populated with obstacles.
834
Authors: Fu Yu Yan, Fan Wu, Fei Peng, Zhi Jie Zhu
Abstract: The retraction algorithm could make the whole path lie on the medial axis in 2D environment. However, it limits the initial and goal configuration lie on the medial axis. Therefore the paper proposed a path clearance optimization method to deal with the problem. The method retracted configurations of the original path to the medial axis. Then it added the retracted configurations, the initial and goal configuration to the retracted path. We apply R-retraction algorithm to the local paths, but not to the local paths between the initial, goal configuration and their retracted configurations. Finally, we proposed a method to remove the branches. We validated the algorithm in virtual environment. The experiments showed that the optimization method could make the whole retracted path lie on the medial axis and the start and goal configuration lie on any free space. Also the proposed method can get paths with maximum clearance in 2D environment in real-time.
1241
Authors: Wen Hu Nan, Xiao Qi Tang, Bao Song
Abstract: This paper presents an innovative motion planning algorithm for pick and place operations in the industry. The new technique is to seek optimal dynamics pattern for PKM(parallel kinematic manipulator), this is achieved by two parts: First, to achieve optimal path planning, a center sphere method based on virtual obstacle path planning method is proposed to solve such path planning with Particle Swarm Optimization (PSO); Second, to enhance the efficiency of the robot, time optimal trajectory planning is finished with respect to robotic physical constraints. Then, the method applied to a 4-DOF PKM is tested by numerical simulations, some examples are presented making comparisons on same tasks assigned by different sphere radius, the simulation results show the efficiency and the effectiveness of the proposed approach to determine the optimal motion pattern for 4-DOF PKM in obstacle-free workspace.
200
Authors: Kai Cheng Qi, Wei Liu, Peng Shang, Jian Jun Zhang, Feng Gao, Jia Lun Yang
Abstract: Standing up from a supine position or sitting down from standing is an important and simple human activity of day life. It is of equal importance for a humanoid robot, but it is not simple work to be completed for the robot. This paper presents the concept of generalized function set, and researches on the characteristics of lying state using the generalize function (GF) set, and gets the interested end effectors (EEs), which is instructional in the next detailed motion planning. Then the work presents the lying state classification of the humanoid robot SJTU-HR1.
1742
Authors: Yun Ping Liu
Abstract: The optimal nonholonomic motion planning for spacecraft multibody system is researched. The attitude motion equations of spacecraft multibody system take on nonholonomic constraint without outside force. The control of system can be converted to the nonholonomic motion planning problem for a driftless system. Based on modified-Newton method, the optimal control algorithm of controlling spacecraft to desired attitude is accepted by optimal control algorithm and Ritz approximation theory. Quaternion is used to describe the kinematics equation, which avoids the singularity and has the benefit of small calculation and high precision. At last, numerical simulations of spacecraft with two reaction fly wheels has proved of the approach to be effective.
4257
Authors: Lin Lin Wang, Hong Jian Wang, Li Xin Pan
Abstract: In order to improve the ability of independent planning for AUV (Autonomous Underwater Vehicle), a new method of motion planning based on SBMPC (Sampling Based Model Predictive Control) is proposed, which is combined with model predictive control theory. Input sampling is directly made in control variable space, and sampling data is substituted into the predictive model of AUV motion. Then surge velocity and yaw angular rate in next sampling time are obtained through calculations. If predictive states are evaluated according to the performance index previously defined, optimal prediction of AUV states in next sampling can be used to realize motion planning optimization. Effects of three sampling methods (viz. uniform sampling, Halton sampling and CVT sampling) on motion planning performance are also compared in simulations. Statistical analysis demonstrates that CVT sampling points has the most uniform coverage in two-dimensional plane when amount of sampling points is the same for three methods. Simulation results show that it is effective and feasible to plan a route for AUV by using CVT sampling and rolling optimization of MPC (Model Predictive Control).
1370
Authors: Jiang Ping Mei, Dong Xing Yu, Xing Quan Cheng
Abstract: The packing robot in China is less developed than western countries at present. For the demand of packaging in food and beverage industry, the integrated case packer based on robot is developed and used in production line. The scheme and layout of the system with seven subsystems is proposed. With the identification of the critical path, the process is analyzed to improve the efficiency of the integrated case packer. Finally, path planning and motion parameters of packing operation are optimized and its experimental research is carried out, which verifies the feasibility of system design. The equipment is applied in Hangzhou WaHaha Group Co., Ltd. with a desired result.
121
Authors: Yan Wang, Yun Wang Ge, Xiao Li Wang
Abstract: According to characteristics of the fruit and vegetable picking operations, an articulated picking robot with four degree-of-freedom is developed. And in order to perform an expected motion of picking work, the kinematic and dynamic models have to be constructed firstly. Kinematics is established based on Denavit-Hartenberg notation. Then, the explicit expressions of dynamic models are presented through Lagrange equation. Finally, trajectory planning from one point to another point is carried out with cycloidal motion, and the angular displacement, velocity, acceleration and torque curves of each joint are analyzed. Simulation results show that the torque curves are quite smooth and with no abrupt changes, which indicates that the motions of each joint won’t result vibrations and can ensure stability of the robot system.
1845
Authors: Anh Dung Nguyen, Akira Shimada
Abstract: This research represents a method to improve the technology that enables the design andsimulation of a four-limbed climbing robot, named FLC-Robot. It is equipped with planning capabilitiesto free climb vertical terrain. It means to extend the robot's ability to a vertical direction underthe gravity force. However, we need to analyze climbing and create the theory in parallel with hardwaredevelopment. In this paper, the equilibrium allowance area of the four-limbed climbing robotis introduced and the corresponding torque is calculated. Hence, this paper starts with a rudimentaryanalysis of mechanical structure and kinematics of FLC-robot. Secondly, a 3D climbing robot modelis built and simulated in Matlab-Simscape environment. Finally, the corresponding motion planningand control method is performed considering statics and dynamics.This research represents a method to improve the technology that enables the design andsimulation of a four-limbed climbing robot, named FLC-Robot. It is equipped with planning capabilitiesto free climb vertical terrain. It means to extend the robot's ability to a vertical direction underthe gravity force. However, we need to analyze climbing and create the theory in parallel with hardwaredevelopment. In this paper, the equilibrium allowance area of the four-limbed climbing robotis introduced and the corresponding torque is calculated. Hence, this paper starts with a rudimentaryanalysis of mechanical structure and kinematics of FLC-robot. Secondly, a 3D climbing robot modelis built and simulated in Matlab-Simscape environment. Finally, the corresponding motion planningand control method is performed considering statics and dynamics.
1021
Showing 1 to 10 of 37 Paper Titles