Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Obstacle Avoidance And Optimal Path Planning Of Car Like Robots PDF full book. Access full book title Obstacle Avoidance And Optimal Path Planning Of Car Like Robots.
| Author | : Masoud Feghhi |
| Publisher | : |
| Total Pages | : 220 |
| Release | : 2002 |
| Genre | : Mobile robots |
| ISBN | : |
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
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.
| Author | : Sharayu Yogesh Ghangrekar |
| Publisher | : |
| Total Pages | : 184 |
| Release | : 2009 |
| Genre | : |
| ISBN | : |
Path planning in robotics is concerned with developing the logic for navigation of a robot. Path planning still has a long way to go considering its deep impact on any robot's functionality. Various path planning techniques have been tried and tested earlier, including probabilistic, integral and genetic approaches. The implementation details of most of these algorithms are proprietary to specific organizations. The requirement of a customized strategy for collision free and concerted navigation of an All-Terrain Vehicle (ATV) led to the activities of this research. As a part of this research an algorithm has been developed and simulated to give a visual effect. The algorithm presented is evolutionary and capable of path planning for ATVs in the presence of completely known and newly-discovered obstacles. This algorithm helps the ATV to maneuver in an open field in a specific pattern and avoid the obstacles, if any, along its path. As part of the research the actual algorithm is implemented and simulated using C and WIN API. As a result, given the data of known obstacles and the field, the ATV can maneuver in a systematic and optimum manner towards its goal by avoiding all the obstacles in its path. This algorithm can also be deployed on an ATV using real time data from LIDAR and GPS. The logic of the algorithm can be extended for path planning in a completely dynamic environment.
| Author | : Viacheslav Pshikhopov |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 314 |
| Release | : 2017-01-28 |
| Genre | : Technology & Engineering |
| ISBN | : 0128123060 |
Path Planning for Vehicles Operating in Uncertain 2D-environments presents a survey that includes several path planning methods developed using fuzzy logic, grapho-analytical search, neural networks, and neural-like structures, procedures of genetic search, and unstable motion modes. Presents a survey of accounting limitations imposed by vehicle dynamics Proposes modified and new original methods, including neural networking, grapho-analytical, and nature-inspired Gives tools for a novice researcher to select a method that would suit their needs or help to synthesize new hybrid methods
| Author | : Laird-Philip Ryan Lewis |
| Publisher | : |
| Total Pages | : 161 |
| Release | : 2006 |
| Genre | : Engineering |
| ISBN | : |
This work introduces the use of optimal control methods for path planning and control of autonomous vehicles in an obstacle-rich environment. Traditional techniques harbor non-optimal, closed architectures primarily derived at a time when computational complexity could significantly hinder overall system performance. Advancements in computing power, miniaturization, and numerical methods permit the utilization of online, optimal path planning and control, thereby improving system flexibility and autonomy. The backbone of this concept is state-of-the-art optimal control techniques involving pseudospectral methods and sequential quadratic programming. Although this research focuses on a robotic car or Unmanned Ground Vehicle (UGV), several systems, including an Unmanned Aerial Vehicle (UAV) and a pendulum on a rotational base, are detailed for the purpose of illustrating the technique's modularity. With respect to the UGV, optimal control methods permit the optimization of maneuver parameters while accounting for complex vehicle kinematics and workspace obstacles, represented as dynamic and path constraints respectively. The path constraints are modeled such that an obstacle of any shape or size can be included. Maneuvering trajectories are first generated in an open-loop architecture, followed by an application of these same techniques in feedback form. Lastly, model fidelity is increased to improve control over vehicle behavior and closed-loop performance and a local knowledge scenario is evaluated.
| Author | : Zexiang Li |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 455 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461531764 |
Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
| Author | : Levent Guvenc |
| Publisher | : John Wiley & Sons |
| Total Pages | : 256 |
| Release | : 2021-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1119747961 |
Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
| Author | : Mark A. C. Gill |
| Publisher | : World Scientific |
| Total Pages | : 202 |
| Release | : 1998 |
| Genre | : Technology & Engineering |
| ISBN | : 9789810234232 |
Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.
| Author | : Margaret Ann Norris |
| Publisher | : |
| Total Pages | : |
| Release | : 1985 |
| Genre | : |
| ISBN | : |
| Author | : Saurabh Sarkar |
| Publisher | : |
| Total Pages | : 107 |
| Release | : 2007 |
| Genre | : |
| ISBN | : |
This thesis describes a novel path planning approach and a new obstacle avoidance technique for mobile robots. The path planning approach is based on dynamic programming and can be used for either discrete way point navigation or continuous path tracking. The obstacle avoidance algorithm described here is similar to the virtual force field concepts used in mobile robots using sonar to avoid obstacles but it has been modified to be effectively used for a mobile robot with a laser scanner. The lane following technique uses a modified version of virtual force field concept suited for vision based navigation. For effective detection of lane markers under various lighting conditions this approach utilizes the ratio of colors to do color lane detection. The thesis finally describes the use of distributed Artificial Intelligence (AI) for mobile robots. This agent based system effectively manages distributed AI components across the network in the mobile robot and also resolves conflicts. The results of this analysis were tested in the 2007 Intelligent Ground Vehicle Competition (www.igvc.org) with acceptable outcomes. Further refinements have been made in preparation for the 2008 competition. The significance of this work is that it is a step toward autonomous intelligent vehicles that could be significantly safer than manually driven vehicles.
