A New Local Path Planner for a Nonholonomic Wheeled Mobile Robot in Cluttered Environments

Ramirez, G.; Zeghloul, S.

doi:10.1007/978-3-7091-2498-7_40

Cited by 1 publication

(6 citation statements)

References 9 publications

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“…General regrouping rules can be formulated by exploitation of the recursive calculation of Hi (14). If one colunu1 or a linear combination of columns of Li is constant and the corresponding columns of K i ·are zero columns, condition ( 16) is fulfilled and the parameters can be regrouped.…”

Section: Regrouping Conditionsmentioning

confidence: 99%

“…The MDH parameters are given in tabular 1. The presented algorithm offers the opportunity to simplify each link's contribution H, before using it for calculation of the next link's contribution HH 1 according to (14). Due to the symmetric structure of the links the robot has only 31 non-zero dynamic parameters (see tabular2).…”

Section: Regrouping Conditionsmentioning

confidence: 99%

“…This linear system represents a linear approximation to (2) along a given pair (u(t), q(t)), so (14) and the matrix ~(t, s) appearing under the integral in {12) satisfies a differential equation This linear system represents a linear approximation to (2) along a given pair (u(t), q(t)), so (14) and the matrix ~(t, s) appearing under the integral in {12) satisfies a differential equation…”

Section: Acknowledgmentsmentioning

confidence: 99%

“…where B(t) has been already defined by (14). FUrthermore, in the singular case the canonical equations take the form…”

Section: K Tchonmentioning

confidence: 99%

“…1 " lride•(p>rrt(p) I et(x,p) = ~ £; riM (14) rf =max (!rrin,, jrrazl) (15) If the Jacobian matrix is singular at some trajectory point of parameter p, it is not possible to compute one of the previous quantities and the manipulator must be rejected with a high objective function value. In this case the "joint law" criterion Cit ( x) is defined as the proportion of the curve where the Jacobian matrix is singular:…”

Section: Rde•(p) = M(q(p))ij(p)-s(q(p) Q(p))-g(q(p))-jt(q(p))w(p)mentioning

confidence: 99%

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Romansy 13

2000

CISM International Centre for Mechanical Sciences

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PREFACEThe CISM-IFToMM Ro.Man.Sy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the thirteenth symposia present world view of the state of the art. in Zakopane, Poland was attended by 74 participants from 15 countries. The proceedings of this thirteenth edition of Ro.Man:Sy focus mainly on problems of mechanical engineering and control. In his opening lecture B. Roth presented an overview of the theoretical basis for the mechanical aspects of robot design. In his general lecture M. Vukobratovic discussed theory and practice of new frontiers of robotics.The 50 regular papers included in this volume illustrate significant contribution in mechanics ( 13 papers), motion control (7), synthesis and design (8), legged locomotion (1 1), sensing and machine intelligence (2), applications (5) and biomechanical aspects of robots and manipulators (4). They appear here in the order and form in which they were presented during the symposium.

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Section: Regrouping Conditionsmentioning

confidence: 99%

Section: Regrouping Conditionsmentioning

confidence: 99%