[PDF] A Framework For Optimal Path Planning And Nonlinear Guidance For Autonomous Mobile Robots eBook

Author : Paul A. Quillen
Publisher :
Page : 179 pages
File Size : 33,72 MB
Release : 2019
Category : Autonomous robots
ISBN :

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The purpose of this research is to investigate methods and technology for enhancing autonomous capabilities for mobile robots. The measures of autonomy which are specifically covered in this dissertation pertain to a mobile robot's ability to make decisions and act, in other words guidance and control. This dissertation puts forth a framework using optimal path planning and nonlinear guidance techniques to address these matters. The path plans are synthesized using a numerical navigation function algorithm that will form its potential contour levels based on the minimum control effort of the system. Additionally, extensions of the path planning algorithm in the presence of uncertainty using modified versions of the RRT* and D* algorithms are studied. Then, an improved nonlinear model predictive control (NMPC) approach is employed to generate high-level guidance commands for the mobile robot to track a trajectory fitted along the path plan leading to the goal. A back stepping-like nonlinear guidance law is also implemented for comparison with the NMPC formulation. Furthermore, a cooperative control policy, making use of a combination of artificial potential functions (APF) and the numerical navigation function, is devised to guide multiple mobile robots in cooperative aggregation and social foraging tasks. The results of this research are verified in simulation and validated experimentally using the mobile robot testing platforms in the Aerospace Systems Laboratory at The University of Texas at Arlington.

Author : Luis Payá
Publisher : MDPI
Page : 298 pages
File Size : 12,94 MB
Release : 2020-11-13
Category : Technology & Engineering
ISBN : 3039286706

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The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.

Author : Alejandra Barrera
Publisher : BoD – Books on Demand
Page : 684 pages
File Size : 47,75 MB
Release : 2010-03-01
Category : Technology & Engineering
ISBN : 9533070765

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Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.

Author : Umar Zakir Abdul Hamid
Publisher : BoD – Books on Demand
Page : 150 pages
File Size : 34,94 MB
Release : 2019-10-02
Category : Transportation
ISBN : 1789239915

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Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).

Author : Mohammad Ali AskariHemmat
Publisher :
Page : 118 pages
File Size : 13,47 MB
Release : 2018
Category :
ISBN :

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This thesis work proposes the development and implementation of multiple different path planning algorithms for autonomous mobile robots, with a focus on differentially driven robots. Then, it continues to propose a real-time path planner that is capable of finding the optimal, collision-free path for a nonholonomic Unmanned Ground Vehicle (UGV) in an unstructured environment. First, a hybrid A* path planner is designed and implemented to find the optimal path; connecting the current position of the UGV to the target in real-time while avoiding any obstacles in the vicinity of the UGV. The advantages of this path planner are that, using the potential field techniques and by excluding the nodes surrounding every obstacles, it significantly reduces the search space of the traditional A* approach; it is also capable of distinguishing different types of obstacles by giving them distinct priorities based on their natures and safety concerns. Such an approach is essential to guarantee a safe navigation in the environment where humans are in close contact with autonomous vehicles. Then, with consideration of the kinematic constraints of the UGV, a smooth and drivable geometric path is generated. Throughout the whole thesis, extensive practical experiments are conducted to verify the effectiveness of the proposed path planning methodologies.

Author : Rastislav Róka
Publisher : BoD – Books on Demand
Page : 200 pages
File Size : 42,93 MB
Release : 2018-09-26
Category : Science
ISBN : 1789235782

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The book Advanced Path Planning for Mobile Entities provides a platform for practicing researchers, academics, PhD students, and other scientists to design, analyze, evaluate, process, and implement diversiform issues of path planning, including algorithms for multipath and mobile planning and path planning for mobile robots. The nine chapters of the book demonstrate capabilities of advanced path planning for mobile entities to solve scientific and engineering problems with varied degree of complexity.

Author : Levent Guvenc
Publisher : John Wiley & Sons
Page : 256 pages
File Size : 32,54 MB
Release : 2021-12-06
Category : Technology & Engineering
ISBN : 1119747961

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Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.

Author : Xiang Ma
Publisher :
Page : 318 pages
File Size : 41,49 MB
Release : 2008
Category :
ISBN :

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Abstract: Given growing emphasis on robot autonomy, the problem of planning a trajectory for these autonomous systems in a complex environment has become increasingly important. The objective of this research is to solve trajectory generation and optimization problems for mobile robot systems with both single and multiple goals. Considering the complexity of general trajectory planning problems, we concentrate mainly on two dynamic models: a holonomic system where velocity is a control variable and a nonholonomic system proposed by Dubins with constant velocity and constrained turning radius. For the simple holonomic model, we focus on computation of optimal trajectories with complex objective functions. We use a stochastic control framework to obtain characterizations of optimal trajectories as solutions of Hamilton-Jacobi-Bellman equations. Based on either upwind schemes or value iteration methods, we develop and evaluate alternative numerical methods for both isotropic (velocity-independent) and anisotropic (velocity-dependent) cost models. For the Dubins' vehicle model, we extend the results of Dubins and others to solve for minimum-time trajectories with diverse path and terminal constraints, characterizing solutions using Pontryagin's Maximum Principle. A direct application of these local shortest-path solutions is the Dubins' Traveling Salesman problem (DTSP), where the goal is to find the shortest trajectory for a Dubins' vehicle given a number of locations. We extend our analytic solutions to two-point and three-point Dubins' shortest path problems to obtain a receding horizon algorithm that outperforms alternative algorithms proposed in the literature when the visiting order is known. We also combine these algorithms with existing TSP heuristics to obtain improved algorithms when the order is not known. We also studied trajectory planning for Dubins' vehicles in the presence of moving obstacles. For stationary obstacles and holonomic vehicles, probabilistic algorithms such as rapidly-exploring random trees (RRTs) can provide guarantees of finding a path to a goal. We developed a variation of RRTs for time-varying obstacles and Dubins' dynamics. We prove probabilistic completeness for this algorithm, establishing that a path will be found if one exists. We also compared our approach with an alternative, the probabilistic roadmap algorithm, and established that our algorithm yields improvements for these problems.

Author : Andrey V. Savkin
Publisher : Butterworth-Heinemann
Page : 360 pages
File Size : 32,35 MB
Release : 2015-09-25
Category : Technology & Engineering
ISBN : 0128037571

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Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control