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Keywords: path planning
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Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2020, 142(6): 061007.
Paper No: DS-18-1410
Published Online: March 5, 2020
.... Numerical solutions are obtained to support and illustrate the analysis. 04 09 2018 19 01 2020 05 03 2020 mobile robots motion planning path planning non-sliding constraints minimum radius of turn time optimal trajectory Time optimal control problems paved the way...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 2015, 137(3): 034501.
Paper No: DS-14-1028
Published Online: October 21, 2014
... is unlimited. 23 01 2014 31 05 2014 This paper addresses the problem of goal-directed robot path planning in the presence of uncertainties that are induced by bounded environmental disturbances and actuation errors. The offline infinite-horizon optimal plan is locally updated by online...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. November 2011, 133(6): 061020.
Published Online: November 23, 2011
... procedure for calculating first-excursion times for a class of linear continuous, time-varying systems. In several examples, we show that the algorithm is both accurate and time-efficient. These are important attributes for real-time path planning in stochastic environments, and hence the work should...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. March 2011, 133(2): 021010.
Published Online: March 9, 2011
... is the computational complexity of the nonlinear programming methods solving them ( 3 ). Some motion planning algorithms have successfully used the optimization method for real-time path planning by solving a reduced order optimization problem ( 4 5 ). However, the centralized nonlinear programming solvers used...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. January 2011, 133(1): 011004.
Published Online: November 24, 2010
... and, subsequently, versus time. The proposed approach is validated and the effect of the number of superfluous cables on the value of minimum time is studied. The next notable challenges include time optimal path planning of cable-suspended robots. By developing a hybrid genetic algorithm and bang-bang control...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. July 2007, 129(4): 541–543.
Published Online: February 5, 2007
... and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2007, 129(5): 620–632.
Published Online: January 16, 2007
... consecutive tangential circular arcs. The former is CLC path and the latter is CCC path, where “C” stands for circular arc and “L” stands for line segment. In this paper, we are using the CLC paths for path planning and “Dubins path” denotes a “CLC path.” In Euclidean geometry, the Dubins path...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2007, 129(5): 716–728.
Published Online: January 10, 2007
... vehicles is enabled by letting each vehicle consider other vehicles’ actions in its path planning procedure. By using the developed strategy, physically feasible paths for the vehicles to follow are generated, where constraints on aerial vehicles, including physical maneuverabilities, are considered...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 842–845.
Published Online: April 25, 2006
... in the accelerating and decelerating zones. Finally, sufficient damping should be guaranteed for rapid suppression of the load swing. variable structure systems position control cranes hoists loading Lyapunov methods trolleys damping vibration control asymptotic stability path planning 2006...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 788–799.
Published Online: April 5, 2006
..., simulations, and experimental validations are presented for our dynamic model and controller, plus the Velocity and Acceleration Cones . 24 09 2004 05 04 2006 mobile robots robot kinematics robot dynamics path planning actuators nonlinear control systems velocity acceleration...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 995–998.
Published Online: February 3, 2006
... 2006 manipulator kinematics manipulator dynamics path planning nonlinear dynamical systems nonlinear control systems optimal control manipulators inertia matrix dynamics matrix equations Motion planning is one of the most important problems in robotics. Dynamics, robust...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2006, 128(1): 104–111.
Published Online: November 21, 2005
... 2005 13 11 2004 19 11 2004 position control nonlinear control systems pendulums control system synthesis linearisation techniques predictive control feedback path planning Dynamically stabilized mobile systems have always fascinated mankind. Among ground vehicles...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 2006, 128(1): 165–170.
Published Online: November 19, 2005
... of homogeneous, deformable terrain, which in turn can be used to assess the vehicle traversability. 14 03 2005 19 11 2005 tactile sensors robot vision mobile robots rolling friction path planning robot dynamics cylindrical mobile robot dynamic modeling terrain sensing...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2006, 128(1): 44–52.
Published Online: November 14, 2005
... 14 11 2005 haptic interfaces robot dynamics path planning mobile robots inertia ellipse apparent inertia passive robot cobot effective mass When a human user interacts with a passive manipulandum, or more generally with a robot that is less than fully actuated...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2005, 127(4): 550–563.
Published Online: January 17, 2005
... parallel manipulator are given to demonstrate the details of this approach. 03 12 2003 17 01 2005 path planning manipulators tracking inverse problems Parallel manipulators have experienced an increase in popularity in recent years due to their higher rate of acceleration...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. September 2004, 126(3): 678–683.
Published Online: December 3, 2004
... of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division December 3, 2003. Associate Editor: M. Goldfarb. 03 December 2003 03 12 2004 path planning...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2004, 126(2): 359–364.
Published Online: August 5, 2004
... . Manuscript received by the ASME Dynamic Systems and Control Division June 24, 2002; final revision, October 14, 2003. Associate Editor: M. Goldfarb. 24 June 2002 14 October 2003 05 08 2004 path planning cranes hoists Lyapunov methods trolleys asymptotic stability velocity...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2004, 126(1): 115–123.
Published Online: April 12, 2004
... Systems, and Control Division July 28, 2003. Associate Editor: M. Goldfarb. 28 July 2003 12 04 2004 flexible manipulators minimisation feedforward end effectors path planning maximum principle controllers stability feedback For flexible multi-link manipulators, three...