Closed loop motion planning of cooperating mobile robots using graph connectivity

2008 ◽  
Vol 56 (4) ◽  
pp. 373-384 ◽  
Author(s):  
Guilherme Augusto Silva Pereira ◽  
Vijay Kumar ◽  
Mario Fernando Montenegro Campos
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Closed Loop ◽  
Graph Connectivity ◽  
Loop Motion

scholarly journals Motion planning and feedback control for a unicycle in a way point following task: The VFO approach

2009 ◽  
Vol 19 (4) ◽  
pp. 533-545 ◽  
Author(s):  
Maciej Michałek ◽  
Krzysztof Kozłowski
Keyword(s):  
Feedback Control ◽  
Motion Planning ◽  
Closed Loop ◽  
Initial State ◽  
Field Orientation ◽  
Parametric Synthesis ◽  
Finite Precision ◽  
Planning Strategy ◽  
Directing Effect ◽  
Loop Motion

Motion planning and feedback control for a unicycle in a way point following task: The VFO approachThis paper is devoted to theway point followingmotion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. Theway point followingtask is determined by the user-defined sequence of way-points which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target state in finite time. The motion planning strategy proposed in the paper does not involve any interpolation of way-points leading to simplified task description and its subsequent realization. The motion planning as well as the motion realization stage are based on the Vector-Field-Orientation (VFO) approach applied here to a new task. The unique features of the resultant VFO control system, namely, predictable vehicle transients, fast error convergence, vehicledirecting effecttogether with very simple controller parametric synthesis, may prove to be useful in practically motivated motion tasks.

Performance Optimisation of Mobile Robots for Search-and-Rescue

2012 ◽  
Vol 232 ◽  
pp. 403-407 ◽  
Author(s):  
S.H. Choi ◽  
W.K. Zhu
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Team Performance ◽  
Task Allocation ◽  
Closed Loop ◽  
Search And Rescue ◽  
Traffic Conditions ◽  
Virtual Force ◽  
Dynamic Search ◽  
Practical Tool

This paper presents a team performance optimisation system for multiple mobile robots in search-and-rescue operations, in which refugees are first discovered and subsequently robots are dispatched to transport themto shelters. Coordination of mobile robots involves two fundamental issues, namely task allocation and motion planning. While task allocation assigns jobs to robots, motion planning generates routes for robots to execute the assigned jobs. Task allocation and motion planning together play a pivotal role in optimisation of the robot team performance. These two issues become more challenging in dynamic search-and-rescue environments, where the refugees are unpredictably discovered at different locations and the traffic conditions of rescue zones keep changing. Weaddress these two issues by proposing an auction-based closed-loop module for task allocation and a bio-inspired intelligent module for motion planning. The task allocation module is characterised with a closed-loop bid adjustment mechanism to improve the bid accuracy even in light of stochastic rescue requests. The motion planning module is bio-inspired intelligent in that it features detection of imminent neighbours and responsiveness of virtual force navigation in dynamic traffic conditions. Simulations show that the proposed system is a practical tool to optimise the dynamic operations of search-and-rescue by a team of mobilerobots.

scholarly journals The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 96
Author(s):  
Yankai Wang ◽  
Qiaoling Du ◽  
Tianhe Zhang ◽  
Chengze Xue
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Process ◽  
Mathematical Expression ◽  
Truss Structure ◽  
Centre Of Mass ◽  
Climbing Robots ◽  
Wheeled Vehicle ◽  
Motion Modes

Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.

scholarly journals Motion Planning for a Chain of Mobile Robots Using A* and Potential Field

Robotics ◽  
2018 ◽  
Vol 7 (2) ◽  
pp. 20 ◽  
Author(s):  
A poorva ◽  
Rahul Gautam ◽  
Rahul Kala
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Potential Field ◽  
A Chain

Motion Planning for Cooperative Transportation of a Large Object by Multiple Mobile Robots.

2002 ◽  
Vol 68 (665) ◽  
pp. 165-172
Author(s):  
Atsushi YAMASHITA ◽  
Masaki FUKUCHI ◽  
Jun OTA ◽  
Tamio ARAI ◽  
Hajime ASAMA
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Large Object ◽  
Multiple Mobile Robots ◽  
Cooperative Transportation
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