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Author : Martin Saska
Publisher :
ISBN 13 : 9783923959563
Total Pages : 147 pages
Book Rating : 4.9/5 (595 download)
Download or read book Trajectory Planning and Optimal Control for Formations of Autonomous Robots written by Martin Saska and published by . This book was released on 2011 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 275 pages
Book Rating : 4.:/5 (464 download)
Download or read book An Information-centric Approach to Autonomous Trajectory Planning Utilizing Optimal Control Techniques written by and published by . This book was released on 2009 with total page 275 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces a new information-centric pseudospectral optimal controlbased algorithm for autonomous trajectory planning and control of unmanned ground vehicles with real-time information updates. It begins with a comprehensive study and comparison of the various path planning methods currently in use. It then provides an analysis of the optimal control method, including vehicle and obstacle modeling techniques, several different problem formulations, and a number of important insights on unmanned ground vehicle motion planning. The new algorithm is then utilized on a collection of motion planning scenarios with varying levels of information; the performance of the planner and the solution accuracies under these varying levels of information are studied for both single and multi-vehicle scenarios. The multi-vehicle scenarios compare and contrast centralized, decentralized, decoupled, coordinated, cooperative, and prioritized control methods. Finally, the versatility of the planner (and the optimal control technique) is demonstrated, as it is used as both a path follower and trajectory planner in a collection of scenarios, including multi-vehicle formations and sector keeping.
Author : Alcherio Martinoli
Publisher : Springer
ISBN 13 : 3642327230
Total Pages : 615 pages
Book Rating : 4.6/5 (423 download)
Download or read book Distributed Autonomous Robotic Systems written by Alcherio Martinoli and published by Springer. This book was released on 2012-09-05 with total page 615 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing, interdisciplinary research area lying at the intersection of computer science, communication and control systems, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 43 original contributions presented at the Tenth International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), which was held in November 2010 at the École Polytechnique Fédérale de Lausanne (EPFL), Switzerland. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into four parts, each representing one critical and long-term research thrust in the multi-robot community: distributed sensing (Part I); localization, navigation, and formations (Part II); coordination algorithms and formal methods (Part III); modularity, distributed manipulation, and platforms (Part IV).
Author : Kyle Stanhouse
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (115 download)
Download or read book Time-Energy Optimal Cluster Space Motion Planning for Mobile Robot Formations written by Kyle Stanhouse and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The motions of a formation of mobile robots along predetermined paths are optimized according to a tunable time-energy cost function using the cluster space approach to multiagent system specification and control. Upon path-parameterizing cluster state variables describing the geometry and pose of a multirobot group, an optimal control problem is formulated that incorporates formation dynamics and state constraints. The optimal trajectory is derived numerically via a gradient search, iterating over the initial value of one costate. A multirobot formation control simulation is then used to demonstrate the effectiveness of the technique. Results indicate that a substantial tradeoff is made between energy expenditure and motion time when considered as minimization criteria in varying proportions, allowing the operator to tailor mission trajectories according to desired levels of each.
Author : Pedro Reynoso Mora
Publisher :
ISBN 13 :
Total Pages : 115 pages
Book Rating : 4.:/5 (94 download)
Download or read book On the Time-optimal Trajectory Planning Along Predetermined Geometric Paths and Optimal Control Synthesis for Trajectory Tracking of Robot Manipulators written by Pedro Reynoso Mora and published by . This book was released on 2013 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this dissertation, we study two important subjects in robotics: (i) time-optimal trajectory planning, and (ii) optimal control synthesis methodologies for trajectory tracking. In the first subject, we concentrate on a rather specific sub-class of problems, the time-optimal trajectory planning along predetermined geometric paths. In this kind of problem, a purely geometric path is already known, and the task is to find out how to move along this path in the shortest time physically possible. In order to generate the true fastest solutions achievable by the actual robot manipulator, the complete nonlinear dynamic model should be incorporated into the problem formulation as a constraint that must be satisfied by the generated trajectories and feedforward torques. This important problem was studied in the 1980s, with many related methods for addressing it based on the so-called velocity limit curve and variational methods. Modern formulations directly discretize the problem and obtain a large-scale mathematical optimization problem, which is a prominent approach to tackle optimal control problems that has gained popularity over variational methods, mainly because it allows to obtain numerical solutions for harder problems. We contribute to the referred problem of time-optimal trajectory planning, by extending and improving the existing mathematical optimization formulations. We successfully incorporate the complete nonlinear dynamic model, including viscous friction because for the fastest motions it becomes even more significant than Coulomb friction; of course, Coulomb friction is likewise accommodated for in our formulation. We develop a framework that guarantees exact dynamic feasibility of the generated time-optimal trajectories and feedforward torques. Our initial formulation is carefully crafted in a rather specific manner, so that it allows to naturally propose a convex relaxation that solves exactly the original problem formulation, which is non-convex and therefore hard to solve. In order to numerically solve the proposed formulation, a discretization scheme is also developed. Unlike traditional and modern formulations, we motivate the incorporation of additional criteria to our original formulation, with simulation and experimental studies of three crucial variables for a 6-axis industrial manipulator. Namely, the resulting applied torques, the readings of a 3-axis accelerometer mounted at the manipulator end-effector, and the detrimental effects on the tracking errors induced by pure time-optimal solutions. We therefore emphasize the significance of penalizing a measure of total jerk and of imposing acceleration constraints. These two criteria are incorporated without destroying convexity. The final formulation generates near time-optimal trajectories and feedforward torques with traveling times that are slightly larger than those of pure time-optimal solutions. Nevertheless, the detrimental effects induced by pure time-optimality are eliminated. Experimental results on a 6-axis industrial manipulator confirm that our formulation generates the fastest solutions that can actually be implemented in the real robot manipulator. Following the work done on near time-optimal trajectories, we explore two controller synthesis methodologies for trajectory tracking, which are more suitable to achieve trajectory-tracking under such fast trajectories. In the first approach, we approximate the discrete-time nonlinear dynamics of robot manipulators, moving along the state-reference trajectory, as an affine time-varying (ATV) dynamical system in discrete-time. Therefore, the problem of trajectory tracking for robot manipulators is posed as a linear quadratic (LQ) optimal control problem for a class of discrete-time ATV dynamical systems. Then, an ATV control law to achieve trajectory tracking on the ATV system is developed, which uses LQ methods for linear time-varying (LTV) systems. Since the ATV dynamical system approximates the nonlinear robot dynamics along the state-reference trajectory, the resulting time-varying control law is suitable to achieve trajectory tracking on the robot manipulator. The ATV control law is implemented in experiments for the 6-axis industrial manipulator, tracking the near time-optimal trajectory. Experimental results verify the better performance achieved with the ATV control law, but also expose its shortcomings. The second approach to address trajectory tracking is related in spirit, but different in crucial aspects, which ultimately endow this approach with its superior features. In this novel approach, the highly nonlinear dynamic model of robot manipulators, moving along a state-reference trajectory, is approximated as a class of piecewise affine (PWA) dynamical systems. We propose a framework to construct the referred PWA system, which consists in: (i) choosing strategic operating points on the state-reference trajectory with their respective (local) linearized system dynamics, (ii) constructing ellipsoidal regions centered at the operating points, whose purpose is to facilitate the scheduling strategy of controller gains designed for each local dynamics. Likewise, in order to switch controller gains as the robot state traverses in the direction of the state-reference trajectory, a simple scheduling strategy is proposed. The controller synthesis near each operating point is an LQR-type that takes into account the local coupled dynamics. The referred PWA control law is implemented in experiments for the 6-axis manipulator tracking the near time-optimal trajectory. The experimental results show the feasibility and superiority of the PWA control law over the typical PID controller and the ATV control law.
Author : Paul A. Quillen
Publisher :
ISBN 13 :
Total Pages : 179 pages
Book Rating : 4.:/5 (132 download)
Download or read book A Framework for Optimal Path Planning and Nonlinear Guidance for Autonomous Mobile Robots written by Paul A. Quillen and published by . This book was released on 2019 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this research is to investigate methods and technology for enhancing autonomous capabilities for mobile robots. The measures of autonomy which are specifically covered in this dissertation pertain to a mobile robot's ability to make decisions and act, in other words guidance and control. This dissertation puts forth a framework using optimal path planning and nonlinear guidance techniques to address these matters. The path plans are synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the minimum control effort of the system. Additionally, extensions of the path planning algorithm in the presence of uncertainty using modified versions of the RRT* and D* algorithms are studied. Then, an improved nonlinear model predictive control (NMPC) approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the path plan leading to the goal. A back stepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Furthermore, a cooperative control policy, making use of a combination of artificial potential functions (APF) and the numerical navigation function, is devised to guide multiple mobile robots in cooperative aggregation and social foraging tasks. The results of this research are verified in simulation and validated experimentally using the mobile robot testing platforms in the Aerospace Systems Laboratory at The University of Texas at Arlington.
Author : Mahdi Morsali
Publisher : Linköping University Electronic Press
ISBN 13 : 9179296939
Total Pages : 25 pages
Book Rating : 4.1/5 (792 download)
Download or read book Trajectory Planning of an Autonomous Vehicle in Multi-Vehicle Traffic Scenarios written by Mahdi Morsali and published by Linköping University Electronic Press. This book was released on 2021-03-25 with total page 25 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tremendous industrial and academic progress and investments have been made in au-tonomous driving, but still many aspects are unknown and require further investigation,development and testing. A key part of an autonomous driving system is an efficient plan-ning algorithm with potential to reduce accidents, or even unpleasant and stressful drivingexperience. A higher degree of automated planning also makes it possible to have a betterenergy management strategy with improved performance through analysis of surroundingenvironment of autonomous vehicles and taking action in a timely manner. This thesis deals with planning of autonomous vehicles in different urban scenarios, road,and vehicle conditions. The main concerns in designing the planning algorithms, are realtime capability, safety and comfort. The planning algorithms developed in this thesis aretested in simulation traffic situations with multiple moving vehicles as obstacles. The re-search conducted in this thesis falls mainly into two parts, the first part investigates decou-pled trajectory planning algorithms with a focus on speed planning, and the second sectionexplores different coupled planning algorithms in spatiotemporal environments where pathand speed are calculated simultaneously. Additionally, a behavioral analysis is carried outto evaluate different tactical maneuvers the autonomous vehicle can have considering theinitial states of the ego and surrounding vehicles. Particularly relevant for heavy duty vehicles, the issues addressed in designing a safe speedplanner in the first part are road conditions such as banking, friction, road curvature andvehicle characteristics. The vehicle constraints on acceleration, jerk, steering, steer ratelimitations and other safety limitations such as rollover are further considerations in speedplanning algorithms. For real time purposes, a minimum working roll model is identified us-ing roll angle and lateral acceleration data collected in a heavy duty truck. In the decoupledplanners, collision avoiding is treated using a search and optimization based planner. In an autonomous vehicle, the structure of the road network is known to the vehicle throughmapping applications. Therefore, this key property can be used in planning algorithms toincrease efficiency. The second part of the thesis, is focused on handling moving obstaclesin a spatiotemporal environment and collision-free planning in complex urban structures.Spatiotemporal planning holds the benefits of exhaustive search and has advantages com-pared to decoupled planning, but the search space in spatiotemporal planning is complex.Support vector machine is used to simplify the search problem to make it more efficient.A SVM classifies the surrounding obstacles into two categories and efficiently calculate anobstacle free region for the ego vehicle. The formulation achieved by solving SVM, con-tains information about the initial point, destination, stationary and moving obstacles.These features, combined with smoothness property of the Gaussian kernel used in SVMformulation is proven to be able to solve complex planning missions in a safe way. Here, three algorithms are developed by taking advantages of SVM formulation, a greedysearch algorithm, an A* lattice based planner and a geometrical based planner. One general property used in all three algorithms is reduced search space through using SVM. In A*lattice based planner, significant improvement in calculation time, is achieved by using theinformation from SVM formulation to calculate a heuristic for planning. Using this heuristic,the planning algorithm treats a simple driving scenario and a complex urban structureequal, as the structure of the road network is included in SVM solution. Inspired byobserving significant improvements in calculation time using SVM heuristic and combiningthe collision information from SVM surfaces and smoothness property, a geometrical planneris proposed that leads to further improvements in calculation time. Realistic driving scenarios such as roundabouts, intersections and takeover maneuvers areused, to test the performance of the proposed algorithms in simulation. Different roadconditions with large banking, low friction and high curvature, and vehicles prone to safetyissues, specially rollover, are evaluated to calculate the speed profile limits. The trajectoriesachieved by the proposed algorithms are compared to profiles calculated by optimal controlsolutions.
Author : Sunil Kumar Singh
Publisher :
ISBN 13 :
Total Pages : 216 pages
Book Rating : 4.E/5 ( download)
Download or read book Optimal Trajectory Planning of Robotic Manipulators written by Sunil Kumar Singh and published by . This book was released on 1985 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Xiang Ma
Publisher :
ISBN 13 :
Total Pages : 318 pages
Book Rating : 4.:/5 (371 download)
Download or read book Optimal Trajectory Planning for Mobile Robots written by Xiang Ma and published by . This book was released on 2008 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Given growing emphasis on robot autonomy, the problem of planning a trajectory for these autonomous systems in a complex environment has become increasingly important. The objective of this research is to solve trajectory generation and optimization problems for mobile robot systems with both single and multiple goals. Considering the complexity of general trajectory planning problems, we concentrate mainly on two dynamic models: a holonomic system where velocity is a control variable and a nonholonomic system proposed by Dubins with constant velocity and constrained turning radius. For the simple holonomic model, we focus on computation of optimal trajectories with complex objective functions. We use a stochastic control framework to obtain characterizations of optimal trajectories as solutions of Hamilton-Jacobi-Bellman equations. Based on either upwind schemes or value iteration methods, we develop and evaluate alternative numerical methods for both isotropic (velocity-independent) and anisotropic (velocity-dependent) cost models. For the Dubins' vehicle model, we extend the results of Dubins and others to solve for minimum-time trajectories with diverse path and terminal constraints, characterizing solutions using Pontryagin's Maximum Principle. A direct application of these local shortest-path solutions is the Dubins' Traveling Salesman problem (DTSP), where the goal is to find the shortest trajectory for a Dubins' vehicle given a number of locations. We extend our analytic solutions to two-point and three-point Dubins' shortest path problems to obtain a receding horizon algorithm that outperforms alternative algorithms proposed in the literature when the visiting order is known. We also combine these algorithms with existing TSP heuristics to obtain improved algorithms when the order is not known. We also studied trajectory planning for Dubins' vehicles in the presence of moving obstacles. For stationary obstacles and holonomic vehicles, probabilistic algorithms such as rapidly-exploring random trees (RRTs) can provide guarantees of finding a path to a goal. We developed a variation of RRTs for time-varying obstacles and Dubins' dynamics. We prove probabilistic completeness for this algorithm, establishing that a path will be found if one exists. We also compared our approach with an alternative, the probabilistic roadmap algorithm, and established that our algorithm yields improvements for these problems.
Author : Winston Smith
Publisher :
ISBN 13 :
Total Pages : 109 pages
Book Rating : 4.:/5 (227 download)
Download or read book Local Path Planning Using Optimal Control Techniques written by Winston Smith and published by . This book was released on 1988 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability of an autonomous vehicle control system to plan a safe, collision-free local path from one vehicle position to another is one of the most important functions. In this thesis, it is shown how a safe obstacle-free local path can be planned using optimal control theory and optimization techniques. The problem is posed as a two point boundary value problem with various problem constraints which control the vehicle behavior in transversing from one point to another. The objective function being minimized is a control performance index which includes vehicle energy saving parameters. Numerous fixed and moving obstacles in the dive plane are introduced and successfully avoided using this technique. Three-dimensional path planning is also successfully demonstrated on a 12 state linear model of an underwater vehicle. This technique is shown to be feasible method for a local path planning applications. (KR).
Author : Jan Mazal
Publisher : Springer
ISBN 13 : 3319760726
Total Pages : 463 pages
Book Rating : 4.3/5 (197 download)
Download or read book Modelling and Simulation for Autonomous Systems written by Jan Mazal and published by Springer. This book was released on 2018-03-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the 4th International Workshop on Modelling and Simulation for Autonomous Systems, MESAS 2017, held in Rome, Italy, , in October 2017. The 33 revised full papers included in the volume were carefully reviewed and selected from 38 submissions. They are organized in the following topical sections: M&S of Intelligent Systems – AI, R&D and Applications; Autonomous Systems in Context of Future Warfare and Security – Concepts, Applications, Standards and Legislation; Future Challenges and Opportunities of Advanced M&S Technology.
Author : Zexiang Li
Publisher : Springer Science & Business Media
ISBN 13 : 9780792392750
Total Pages : 468 pages
Book Rating : 4.3/5 (927 download)
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 1993 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: Emerging from the Workshop on [title], held at the 1991 IEEE International Conference on Robotics and Automation, this volume consists of contributed chapters representing new developments in the area of path planning for robotic systems that are subject to either nonholonomic constraints or non-integrable conservation laws. The contributors include robotics engineers, nonlinear control experts, differential geometers, and applied mathematicians. Could by used as a reference by researchers or as a textbook for a graduate level robotics or nonlinear control course. Annotation copyright by Book News, Inc., Portland, OR
Author : Hyo-Sung Ahn
Publisher : Springer
ISBN 13 : 3030151875
Total Pages : 360 pages
Book Rating : 4.0/5 (31 download)
Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.
Author : n. harris mcclamroch
Publisher :
ISBN 13 :
Total Pages : 46 pages
Book Rating : 4.L/5 ( download)
Download or read book time-optimal control for a robotic contour following problem written by n. harris mcclamroch and published by . This book was released on 1986 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Zhengyu Song
Publisher : Springer Nature
ISBN 13 : 981990613X
Total Pages : 229 pages
Book Rating : 4.8/5 (199 download)
Download or read book Autonomous Trajectory Planning and Guidance Control for Launch Vehicles written by Zhengyu Song and published by Springer Nature. This book was released on 2023-04-15 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book highlights the autonomous and intelligent flight control of future launch vehicles for improving flight autonomy to plan ascent and descent trajectories onboard, and autonomously handle unexpected events or failures during the flight. Since the beginning of the twenty-first century, space launch activities worldwide have grown vigorously. Meanwhile, commercial launches also account for the booming trend. Unfortunately, the risk of space launches still exists and is gradually increasing in line with the rapidly rising launch activities and commercial rockets. In the history of space launches, propulsion and control systems are the two main contributors to launch failures. With the development of information technologies, the increase of the functional density of hardware products, the application of redundant or fault-tolerant solutions, and the improvement of the testability of avionics, the launch losses caused by control systems exhibit a downward trend, and the failures induced by propulsion systems become the focus of attention. Under these failures, the autonomous planning and guidance control may save the missions. This book focuses on the latest progress of relevant projects and academic studies of autonomous guidance, especially on some advanced methods which can be potentially real-time implemented in the future control system of launch vehicles. In Chapter 1, the prospect and technical challenges are summarized by reviewing the development of launch vehicles. Chapters 2 to 4 mainly focus on the flight in the ascent phase, in which the autonomous guidance is mainly reflected in the online planning. Chapters 5 and 6 mainly discuss the powered descent guidance technologies. Finally, since aerodynamic uncertainties exert a significant impact on the performance of the ascent / landing guidance control systems, the estimation of aerodynamic parameters, which are helpful to improve flight autonomy, is discussed in Chapter 7. The book serves as a valuable reference for researchers and engineers working on launch vehicles. It is also a timely source of information for graduate students interested in the subject.
Author : Michael Schaupp
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (593 download)
Download or read book Development of an Optimal Control Strategy for Robot Trajectory Planning written by Michael Schaupp and published by . This book was released on 1998 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Steven M. LaValle
Publisher : Cambridge University Press
ISBN 13 : 9780521862059
Total Pages : 844 pages
Book Rating : 4.8/5 (62 download)
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
