Smooth path planning and control for mobile robots

2005 ◽  
Author(s):  
Shangming Wei ◽  
M. Zefran
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Planning And Control ◽  
Smooth Path ◽  
And Control

scholarly journals Energy Modeling and Power Measurement for Three-Wheeled Omnidirectional Mobile Robots for Path Planning

Electronics ◽  
2019 ◽  
Vol 8 (8) ◽  
pp. 843 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Path Planning ◽  
Power Consumption ◽  
Mobile Robots ◽  
High Mobility ◽  
Intelligent Manufacturing ◽  
Power Measurement ◽  
Research Focus ◽  
Planning And Control ◽  
Perfect Symmetry ◽  
And Control

Due to their high mobility, mobile robots (MR) are widely used in intelligent manufacturing. Due to the perfect symmetry of the MR of the three-wheeled moving chassis, it can move quickly in a crowded and complex factory environment. Because it is powered by a lithium battery, in order to improve its energy efficiency, we need to ensure that its power consumption is reduced as much as possible in order to avoid frequent battery replacement. The power consumption of MRs has also become an important research focus for researchers. Therefore, a power consumption modeling of the omnidirectional mobility of the three-wheeled omnidirectional mobile robot (TOMR) is proposed in this paper. When TOMR advances heading at different angles, the speed of each wheel changes dramatically. So, the power consumption of robots will also be greatly changed. In this paper, the energy and power consumption of the robot heading in different directions is analyzed and modeled by formulas. This research can be valuable for path planning and control design.

A Biologically Inspired Autonomous Robot Control Based on Behavioural Coordination in Evolutionary Robotics

2011 ◽  
pp. 107-129 ◽  
Author(s):  
José A. Fernández-León ◽  
Gerardo G. Acosta ◽  
Miguel A. Mayosky ◽  
Oscar C. Ibáñez
Keyword(s):  
Mobile Robots ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Real Life ◽  
Evolutionary Robotics ◽  
Knowledge Based ◽  
Planning And Control ◽  
Life Problems ◽  
Path Planner ◽  
And Control

This work is intended to give an overview of technologies, developed from an artificial intelligence standpoint, devised to face the different planning and control problems involved in trajectory generation for mobile robots. The purpose of this analysis is to give a current context to present the Evolutionary Robotics approach to the problem, which is now being considered as a feasible methodology to develop mobile robots for solving real life problems. This chapter also show the authors’ experiences on related case studies, which are briefly described (a fuzzy logic based path planner for a terrestrial mobile robot, and a knowledge-based system for desired trajectory generation in the Geosub underwater autonomous vehicle). The development of different behaviours within a path generator, built with Evolutionary Robotics concepts, is tested in a Khepera© robot and analyzed in detail. Finally, behaviour coordination based on the artificial immune system metaphor is evaluated for the same application.

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