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Highquality Path Planning for Autonomous Mobile Robots with η3Splines and Parallel Genetic Algorithms
 IEEE Int. Conf. Robotics and Biomimetics
, 2008
"... Abstract In this paper we apply the composite η3 splines to collisionfree curvaturederivative continuous shorter path planning of wheeled mobile robots, modelled as unicycle, within known static environments. The path planning problem is formulated as a biobjective optimization problem of search ..."
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Abstract In this paper we apply the composite η3 splines to collisionfree curvaturederivative continuous shorter path planning of wheeled mobile robots, modelled as unicycle, within known static environments. The path planning problem is formulated as a biobjective optimization problem of searching a sequence of N ordered intermediate configurations between start and goal configurations over the group of all possible configurations that avoid collisions with obstacles while minimize the path length. We employ Paretobased evolutionary multiobjective optimization using island parallel genetic algorithm (IPGA) with migration to tackle this problem. Extensive simulations demonstrate that the generated paths are statistically both shorter and smoother, up to third order geometric continuity, when compared to path planning by cubic spiral. In particular, the effect of N that represents path complexity on path planning performance of the evolutionary path planner based on IPGA is extensively tested on environments consisting of similar number of obstacles but different configurations. Index Terms genetic algorithm, multiobjective optimiza
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"... AbstractAutomatic control of a mobile robot with nonholonomic constraints normally depends on complex signal processing mechanisms, e.g. predictive control. This paper presents a new trajectory tracking method for a mobile robot by combining predictive control and fuzzy control. To overcome the ti ..."
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AbstractAutomatic control of a mobile robot with nonholonomic constraints normally depends on complex signal processing mechanisms, e.g. predictive control. This paper presents a new trajectory tracking method for a mobile robot by combining predictive control and fuzzy control. To overcome the time delay caused by the slow response of the sensor, the algorithm employs predictive control to predict the position and orientation of the robot. In addition, fuzzy control is adopted to deal with nonlinear characteristic of the system. The advantages of this predictive fuzzy controller include high reliability for a slow sensor response, small error of absolute tracking, availability of a linearized predictive model and simplified fuzzy rules, which reduce the computing complexity. In our experiments, we applied this control method to the soccer robot. Accuracy and convergent performance was compared with a traditional PID controller, as well as with a conventional fuzzy controller. The experiment results demonstrated the feasibility and advantages of this predictive fuzzy control on the trajectory tracking of a mobile robot.
IMECE200579682 PATH PLANNING OF MULTIPLE UAVS IN AN ENVIRONMENT OF RESTRICTED REGIONS
"... ABSTRACT This paper describes a novel idea of path planning for multiple UAVs (Unmanned Aerial Vehicles ..."
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ABSTRACT This paper describes a novel idea of path planning for multiple UAVs (Unmanned Aerial Vehicles
Madhavan Shanmugavel Antonios Tsourdos Differential Geometric Path Planning of Multiple UAVs
"... ..."
PATH PLANNING OF MULTIPLE AUTONOMOUS VEHICLES Supervisors
, 2007
"... copyright holder. Safe and simultaneous arrival of constant speed, constant altitude UAVs on target is solved by design of paths of equal lengths. The starting point of the solution is the wellknown Dubins path which is composed of circular arcs and line segments, thus requiring only one simple man ..."
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copyright holder. Safe and simultaneous arrival of constant speed, constant altitude UAVs on target is solved by design of paths of equal lengths. The starting point of the solution is the wellknown Dubins path which is composed of circular arcs and line segments, thus requiring only one simple manoeuvre constant rate turn. An explicit bound can be imposed on the rate during the design and the resulting paths are the minimum time solution of the problem. However, transition between arc and line segment entails discontinuous changes in lateral accelerations (latax), making this approach impractical for real fixed wing UAVs. Therefore, the Dubins solution is replaced with clothoid and also a novel one, based on quintic Pythagorean Hodograph (PH) curves, whose latax demand is continuous. The clothoid solution is direct as in the case of the Dubins path. The PH path is chosen for its rational functional form. The clothoid and the PH paths are designed to have lengths close to the lengths of the Dubins paths to stay close to the minimum time solution.
Underactuated Vehicle Control  Motion Planning Analysis: Robustness of ...Filters to Nonlinear Perturbations
, 2000
"... this report is to develop analytical support for the underactuated vehicle motion planning simulation results described in Brief Report 23. In that report, the motion planning algorithm used an H ..."
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this report is to develop analytical support for the underactuated vehicle motion planning simulation results described in Brief Report 23. In that report, the motion planning algorithm used an H
Underactuated Vehicle Control  Pythagorean Hodograph Curves for Motion Planning
, 2000
"... This report has introduced the concept of Pythagorean hodograph curves and documented the results of using Mathematica to solve simple path planning problems. We used a complex polynomial representation to nd four PH curves satisfying the Hermite interpolation conditions. We then selected the curve ..."
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This report has introduced the concept of Pythagorean hodograph curves and documented the results of using Mathematica to solve simple path planning problems. We used a complex polynomial representation to nd four PH curves satisfying the Hermite interpolation conditions. We then selected the curve with the minimum bending energy as the optimal solution and computed oset curves along the path.
ACC 2001, To appear Motion Planning for Nonlinear Underactuated Vehicles using H ∞ Techniques
"... This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete con ..."
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This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete configuration along the trajectory. The algorithm introduces an iterative H∞filter to improve upon the initial estimate for the trajectory. The solution to the basic motion planning problem can be coupled with randomized path planning algorithms to solve the obstacle avoidance and multiple vehicle versions of the problem. Numerical simulations illustrate the algorithm’s performance on an underactuated planar vehicle. 1
4. TITLE AND SUBTITLE ROBUST CONTROL AND MOTION PLANNING FOR NONLINEAR UNDERACTUATED SYSTEMS USING H TECHNIQUES
"... REPORT DOCUMENTATION PAGE Form Approved OMB No. 07040188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing ..."
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REPORT DOCUMENTATION PAGE Form Approved OMB No. 07040188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this