32 research outputs found
Homotopic Path Planning on Manifolds for Cabled Mobile Robots
We present two path planning algorithms for mobile robots that are connected
by cable to a fixed base. Our algorithms efficiently compute the shortest path
and control strategy that lead the robot to the target location considering cable length
and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce
and formally analyze algorithms that build and search an overlapped configuration
space manifold. Next, we present an extension that considers cable-robot collisions.
All algorithms are experimentally validated using a real robot
A coupling of discrete and continuous optimization to solve kinodynamic motion planning problems
A new approach to find the fastest trajectory of a robot avoiding
obstacles, is presented. This optimal trajectory is the solution of an
optimal control problem with kinematic and dynamics constraints. The approach
involves a direct method based on the time discretization of the control
variable. We mainly focus on the computation of a good initial trajectory.
Our method combines discrete and continuous optimization concepts. First, a
graph search algorithm is used to determine a list of via points. Then, an
optimal control problem of small size is defined to find the fastest
trajectory that passes through the vicinity of the via points. The resulting
solution is the initial trajectory. Our approach is applied to a single body
mobile robot. The numerical results show the quality of the initial
trajectory and its low computational cost
Sensor Network Based Collision-Free Navigation and Map Building for Mobile Robots
Safe robot navigation is a fundamental research field for autonomous robots
including ground mobile robots and flying robots. The primary objective of a
safe robot navigation algorithm is to guide an autonomous robot from its
initial position to a target or along a desired path with obstacle avoidance.
With the development of information technology and sensor technology, the
implementations combining robotics with sensor network are focused on in the
recent researches. One of the relevant implementations is the sensor network
based robot navigation. Moreover, another important navigation problem of
robotics is safe area search and map building. In this report, a global
collision-free path planning algorithm for ground mobile robots in dynamic
environments is presented firstly. Considering the advantages of sensor
network, the presented path planning algorithm is developed to a sensor network
based navigation algorithm for ground mobile robots. The 2D range finder sensor
network is used in the presented method to detect static and dynamic obstacles.
The sensor network can guide each ground mobile robot in the detected safe area
to the target. Furthermore, the presented navigation algorithm is extended into
3D environments. With the measurements of the sensor network, any flying robot
in the workspace is navigated by the presented algorithm from the initial
position to the target. Moreover, in this report, another navigation problem,
safe area search and map building for ground mobile robot, is studied and two
algorithms are presented. In the first presented method, we consider a ground
mobile robot equipped with a 2D range finder sensor searching a bounded 2D area
without any collision and building a complete 2D map of the area. Furthermore,
the first presented map building algorithm is extended to another algorithm for
3D map building