scholarly journals Mobile robot movement planning and control intelligent system in unknown environment

2018 ◽  
Author(s):  
Andrius Nemeiksis ◽  
Vitalijs Osadcuks
Keyword(s):  
Mobile Robot ◽  
Intelligent System ◽  
Movement Planning ◽  
Unknown Environment ◽  
Planning And Control ◽  
And Control

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

Intelligent Motion Planning and Control for a Simulated Mobile Robot

1997 ◽  
Vol 30 (21) ◽  
pp. 351-356 ◽  
Author(s):  
Andon V. Topalov ◽  
Diana D. Tsankova ◽  
Michail G. Petrov ◽  
Todor Ph. Proychev
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Planning And Control ◽  
And Control

Movement Behavior for Soldier Agents on a Virtual Battlefield

2003 ◽  
Vol 12 (4) ◽  
pp. 387-410 ◽  
Author(s):  
Douglas A. Reece
Keyword(s):  
Search Algorithm ◽  
Human Movement ◽  
Movement Planning ◽  
Movement Behavior ◽  
Behavior Model ◽  
Topological Map ◽  
Hybrid Search ◽  
Individual Agent ◽  
Planning And Control ◽  
And Control

We have developed a movement behavior model for soldier agents who populate a virtual battlefield environment. Whereas many simulations have addressed human movement behavior before, none of them has comprehensively addressed realistic military movement at individual and unit levels. To design an appropriate movement behavior model, we found it necessary to elaborate all of the requirements on movement from the military tasks of interest, define a behavior architecture that encompasses all required movement tasks, select appropriate movement planning and control approaches in light of the requirements, and implement the planning and control algorithms with novel enhancements to achieve satisfactory results. The breadth of requirements in this problem domain makes simple behavior architectures inadequate and prevents any single planning approach from easily accomplishing all tasks. In our behavior architecture, a hierarchy of tasks is distributed over unit leaders and unit members. For movement planning, we use an A* search algorithm on a hybrid search space comprising a two-dimensional regular grid and a topological map; the plan produced is a series of waypoints annotated with posture and speed changes. Individuals control movement with reactive steering behaviors. The result is a system that can realistically plan and execute a variety of unit and individual agent movement tasks on a virtual battlefield.

Mechatronics Engineering on the Example of a Multipurpose Mobile Robot

2009 ◽  
Vol 147-149 ◽  
pp. 61-66 ◽  
Author(s):  
Marek Stania ◽  
Ralf Stetter
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Level Control ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Mechatronic Design ◽  
Planning And Control ◽  
And Control

This paper presents the patented mechanical concept for steering and level control of a mobile robot equipped with four driving units and the methods that lead to the development of this mechatronic system. The mobile robot exhibits excellent maneuverability and considerable advantages when moving in difficult environments such as rough landscapes. The paper discusses a refined approach to develop mechatronic systems which is based on the well-known V-model. The refined approach allows a conscious planning and control of a mechatronic design process.

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