1A1-K16 Path Planning system of a mobile robot for a room environment with point cloud map gotten by SOKUIKI Sensor(New Control Theory and Motion Control)

2011 ◽  
Vol 2011 (0) ◽  
pp. _1A1-K16_1-_1A1-K16_4
Author(s):  
Takemi KIMURA ◽  
Shigeru BANDO ◽  
Shin'ichi YUTA
Keyword(s):  
Path Planning ◽  
Control Theory ◽  
Mobile Robot ◽  
Motion Control ◽  
Point Cloud ◽  
Planning System

Efficient CNC Machining of Freeform Surfaces From Point Cloud

2018 ◽  
Author(s):  
Mandeep Dhanda ◽  
S. S. Pande
Keyword(s):  
Path Planning ◽  
Point Cloud ◽  
Tool Path ◽  
Cnc Machining ◽  
Planning System ◽  
Process Conditions ◽  
Cnc Machine ◽  
Tool Path Planning ◽  
Efficient Tool ◽  
Freeform Surfaces

This paper reports the development of an efficient tool path planning strategy for CNC machining of freeform surfaces directly from their representation in the form of point cloud. A grid based adaptive isoplanar tool path planning system has been designed and implemented for 3axis CNC machine using ball end mill. Inverse tool offset algorithm (IOM) is used to compute initial uniform CL (Cutter Location) grid points. From these CL points, surface slope and curvature are estimated and the forward and side step errors likely to be produced during machining are computed. The grid is subsequently refined through segmentation if the error values exceed the user defined tolerances. Adaptive grid refinement is continued iteratively till the error values converge below the prescribed tolerance limits. The grid (CL) points are sequenced to generate the final tool path. The software system developed takes the input part model as point cloud and generates post-processed CNC part program in the ISO format. The CNC part programs were extensively tested for various case studies on the commercial CNC simulator as well on the actual CNC machine. The results were compared with those from the commercial software for the same process conditions. Our system was found to generate more efficient tool paths in terms of enhanced productivity, part quality and reduced memory requirement.

scholarly journals Development of a Hybrid Path Planning Algorithm and a Bio-Inspired Control for an Omni-Wheel Mobile Robot

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4258 ◽  
Author(s):  
Changwon Kim ◽  
Junho Suh ◽  
Je-Heon Han
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Motion Control ◽  
Control Structure ◽  
Optimal Path ◽  
Tracking Task ◽  
Motion Controller ◽  
Planning Algorithm ◽  
Omni Wheel ◽  
Path Planning Algorithm

This research presents a control structure for an omni-wheel mobile robot (OWMR). The control structure includes the path planning module and the motion control module. In order to secure the robustness and fast control performance required in the operating environment of OWMR, a bio-inspired control method, brain limbic system (BLS)-based control, was applied. Based on the derived OWMR kinematic model, a motion controller was designed. Additionally, an optimal path planning module is suggested by combining the advantages of A* algorithm and the fuzzy analytic hierarchy process (FAHP). In order to verify the performance of the proposed motion control strategy and path planning algorithm, numerical simulations were conducted. Through a point-to-point movement task, circular path tracking task, and randomly moving target tracking task, it was confirmed that the suggesting motion controller is superior to the existing controllers, such as PID. In addition, A*–FAHP was applied to the OWMR to verify the performance of the proposed path planning algorithm, and it was simulated based on the static warehouse environment, dynamic warehouse environment, and autonomous ballet parking scenarios. The simulation results demonstrated that the proposed algorithm generates the optimal path in a short time without collision with stop and moving obstacles.

Remote path planning and motion control of mobile robot within indoor maze environment

2014 ◽  
Author(s):  
Kemal Lutvica ◽  
Jasmin Velagic ◽  
Nihad Kadic ◽  
Nedim Osmic ◽  
Gregor Dzampo ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Motion Control

scholarly journals Two Dimensional Path Planning with Static Polygon Obstacles Avoidance

2020 ◽  
Vol sceeer (3d) ◽  
pp. 65-72
Author(s):  
Duaa Ramadhan ◽  
Abdulmuttalib Rashid ◽  
Osama Rashid
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Binary Tree ◽  
The Other ◽  
Planning System ◽  
Time Of Arrival ◽  
Two Dimensional ◽  
Differential Drive ◽  
Planning Algorithm ◽  
Path Planning Algorithm

This paper presents the designing of path planning system in an environment contains a set of static polygon obstacles localized and distributed randomly by using differential drive mobile robot. In this paper the designed algorithm (two dimensional path planning algorithm) is proposed in order of investigate the path planning of mobile robot with free collision using the visibility binary tree algorithm. The suggested algorithm is compared with the virtual circles tangents algorithm in the time of arrival and the longest of the path to the target. The aim of this paper is to get an algorithm has better performance than the other algorithms and get less time of arrival and shortest path with free collision.

scholarly journals Path Planning and Obstacles Avoidance in Dynamic Workspace Using Polygon Shape Tangents Algorithm

2021 ◽  
Vol 17 (1) ◽  
pp. 1-10
Author(s):  
Duaa Ramadhan ◽  
Auday Al-Mayyahi ◽  
Moofed Rashid
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Shortest Path ◽  
Binary Tree ◽  
The Other ◽  
Planning System ◽  
Time Of Arrival ◽  
Tree Algorithm ◽  
Robot Trajectory ◽  
Destination Point

This paper presents the design of a path planning system in an environment that contains a set of static and dynamic polygon obstacles localized randomly. In this paper, an algorithm so-called (Polygon shape tangents algorithm) is proposed to move a mobile robot from a source point to a destination point with no collision with surrounding obstacles using the visibility binary tree algorithm. The methodology of this algorithm is based on predicting the steps of a robot trajectory from the source to the destination point. The polygon shapes tangent algorithm is compared with the virtual circles' tangents algorithm for different numbers of static and dynamic polygon obstacles for the time of arrival and the length of the path to the target. The obtained result shows that the used algorithm has better performance than the other algorithms and gets less time of arrival and shortest path with free collision.

scholarly journals Two Dimensional Path Planning with Static Polygon Obstacles Avoidance

2020 ◽  
Vol sceeer (3d) ◽  
pp. 65-72
Author(s):  
Duaa Ramadhan ◽  
Abdulmuttalib Rashid ◽  
Osama Rashid
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Binary Tree ◽  
The Other ◽  
Planning System ◽  
Time Of Arrival ◽  
Two Dimensional ◽  
Differential Drive ◽  
Planning Algorithm ◽  
Path Planning Algorithm

This paper presents the designing of path planning system in an environment contains a set of static polygon obstacles localized and distributed randomly by using differential drive mobile robot. In this paper the designed algorithm (two dimensional path planning algorithm) is proposed in order of investigate the path planning of mobile robot with free collision using the visibility binary tree algorithm. The suggested algorithm is compared with the virtual circles tangents algorithm in the time of arrival and the longest of the path to the target. The aim of this paper is to get an algorithm has better performance than the other algorithms and get less time of arrival and shortest path with free collision.

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