Motion Planning for Mobile Robot with Uncertainty
| Author | : Jiawei Tang |
| Publisher | : |
| Total Pages | : 38 |
| Release | : 2021 |
| Genre | : Automation |
| ISBN | : |
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Mobile Robots in Rough Terrain
| Author | : Karl Iagnemma |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 136 |
| Release | : 2004-07-08 |
| Genre | : Technology & Engineering |
| ISBN | : 9783540219682 |
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This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.
Reasoning about Uncertainty in Robot Motion Planning
| Author | : Anthony Lazanas |
| Publisher | : |
| Total Pages | : 472 |
| Release | : 1994 |
| Genre | : Reasoning |
| ISBN | : |
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Experimentation with the algorithm using a real mobile robot has been successful. By engineering the workspace, we have been able to satisfy all the assumptions of our planning model. As a result, the robot has been able to operate for long periods of time with no failures.
Autonomous Mobile Robots and Multi-Robot Systems
| Author | : Eugene Kagan |
| Publisher | : John Wiley & Sons |
| Total Pages | : 340 |
| Release | : 2019-12-16 |
| Genre | : Technology & Engineering |
| ISBN | : 1119212863 |
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Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Autonomous Mobile Robots and Multi-Robot Systems
| Author | : Eugene Kagan |
| Publisher | : John Wiley & Sons |
| Total Pages | : 415 |
| Release | : 2019-09-04 |
| Genre | : Technology & Engineering |
| ISBN | : 1119213169 |
Download Autonomous Mobile Robots and Multi-Robot Systems Book in PDF, ePub and Kindle
Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Planning the Motions of a Mobile Robot in a Sensory Uncertainty Field
| Author | : H. Takeda |
| Publisher | : |
| Total Pages | : 31 |
| Release | : 1992 |
| Genre | : Mobile robots |
| ISBN | : |
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This paper introduces a new approach to motion planning with uncertainty for mobile robots. Given a model of the robot's environment, a "sensory uncertainty field" (SUF) is computed over the robot's configuration space. At every configuration q, the SUF is an estimate of the uncertainty (distribution of possible errors) in the "sensed configuration" that would be computed by matching the data given by the robot sensors against the environment model, if the robot was at configuration q. A planner then makes use of the computed SUF to generate paths that minimize expected errors, so that their execution can be reliably monitored by the sensors. This paper describes in detail the computation of a SUF for a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for a robot equipped with this sensor and analyzes experimental results produced with this planner. Finally, it discusses additional issues related to the SUF-based planning approach.
Principles of Robot Motion
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
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A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Online Information-aware Motion Planning with Model Improvement for Uncertain Mobile Robotics
| Author | : Keenan Eugene Sumner Albee |
| Publisher | : |
| Total Pages | : 0 |
| Release | : 2022 |
| Genre | : |
| ISBN | : |
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Mobile robots increasingly interact with unstructured, uncertain environments while performing useful tasks. To navigate their surroundings these robots rely on models of their own motion which themselves might not be perfectly known. Some of these uncertainties are considered within the context of the model, like unknown inertial properties; others are simply considered beyond the model's fidelity and are treated as disturbance terms.
Mobile Robot: Motion Control and Path Planning
| Author | : Ahmad Taher Azar |
| Publisher | : Springer Nature |
| Total Pages | : 670 |
| Release | : 2023-06-30 |
| Genre | : Technology & Engineering |
| ISBN | : 3031265645 |
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This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.
Robot Motion Planning with Uncertainty in Control and Sensing
| Author | : Jean-Claude Latombe |
| Publisher | : |
| Total Pages | : 46 |
| Release | : 1989 |
| Genre | : Robotics |
| ISBN | : |
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In this paper, we consider the problem of planning motion strategies in the presence of uncertainty in both control and sensing for simple robots described in a two dimensional configuration space. We consider the preimage backchaining approach to this problem. which was first proposed by Lozano-Perez. Mason and Taylor (1984). Although attractive, the approach raises several difficult computational issues. One of them, which is directly addressed in this paper. is preimage computation. We describe two practical methods for computing preimages, which we call backprojection from sticking edges and backprojection from goal kernel. Also discussed non-implemented improvements of this planner and additional results.
