A substructure based motion planning method for a modular self-reconfigurable robot

2004 ◽  
Author(s):  
Liang Zhang ◽  
Jie Zhao ◽  
He Gao Cai
Keyword(s):  
Motion Planning ◽  
Planning Method ◽  
Reconfigurable Robot

ADD-RRV for motion planning in complex environments

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Peng Cai ◽  
Xiaokui Yue ◽  
Hongwen Zhang
Keyword(s):  
Principal Component Analysis ◽  
Motion Planning ◽  
Configuration Space ◽  
Principal Component ◽  
Component Analysis ◽  
Planning Method ◽  
Complex Environments ◽  
Local Configuration ◽  
Narrow Passage

Abstract In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.

Research on autonomous exploration motion planning method of mobile robots for unstructured scenarios

2021 ◽  
Author(s):  
Xuehao Sun ◽  
Shuchao Deng ◽  
Baohong Tong ◽  
Shuang Wang ◽  
Shuai Ma ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Planning Method ◽  
Autonomous Exploration

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

Research on Multi-joints Motion Planning Method by Online Auto-Learning Mode Based on Neural Network

2021 ◽  
pp. 453-460
Author(s):  
Yajing Guo ◽  
Fan Yang ◽  
Junning Zhang ◽  
Pengfei Li ◽  
Bohan Lv
Keyword(s):  
Neural Network ◽  
Motion Planning ◽  
Planning Method

The Motion-Overlap Scheme for Reducing the Time between Continuous Scans of Wafer Stage for Step-and-Scan Lithography

2011 ◽  
Vol 121-126 ◽  
pp. 110-115
Author(s):  
Hai Hong Pan ◽  
Lin Chen ◽  
Yun Fei Zhou
Keyword(s):  
Motion Planning ◽  
Production Efficiency ◽  
Planning Method ◽  
Continuous Exposure ◽  
Theoretical Derivation ◽  
Scanning Direction ◽  
Exposure Field ◽  
Simulation Results ◽  
Transitional Time ◽  
Exposure Process

During the exposure process of a step-and-scan lithography, the transitional time between continuous scans does not produce production efficiency in which no scanning occurs. To minimize the transitional time and therefore to improve the productivity we introduce the motion-overlap scheme, which inserts a step-move between the overrun phase and the phase before exposure of next field along the scanning direction for wafer stage during the continuous exposure process. The simulation results show that the motion-overlap scheme enables the total time of two continuous scans of four different exposure field sizes reduce 8.28%, 7.11%, 5.87% and 4.53%, respectively, compared with the conventional motion planning method. This indicates that the theoretical derivation of motion-overlap planning method is effective.

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