No abstract

A key issue in mobile robot applications involves building a map of the environment that may be used by the robot for path planning. In this paper, a new approach for uneven environment reconstruction based on the information supplied by a millimetre wave (MMW) radar has been proposed. The returned raw data from the MMW are stored in a database and then transferred to the CAD model, and represented as objects using an algorithm. The non-uniform rational B-splines have been used to extract the polygonal mesh decomposition equivalent to the 3D uneven environment and obstacle surfaces. The polygonal mesh decomposition helps to locate the different obstacles and to build the optimal path to reach the target starting from any initial position, by taking into consideration the terrain traversability. The optimal path is obtained by applying distance calculation method and speed limits. Indeed, the returned path is smooth which is a crucial performance consideration, especially for practical service robots.

One aim of controlling a manipulator robot is to maximize its performances such as accuracy, speed, time etc…. However, limiting the power of actuators causes a limitation of their generalized accelerations and velocities; this is due to the high inertial forces, which create dangerous voltages at the machines elements. This paper propose an algorithm to solve the problem of maximizing the manipulator performances considering that the end-effector position and orientation is characterized by a 6x1 vector i.e., six degrees of freedom; moreover, the need to move the end-effector from the start position to the target with a minimum time, without violating its boundaries. The presented solution is well suited to this context. It is optimal with respect to time constraints, and it allows a direct calculation.