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Friday, August 7, 2020 | History

1 edition of Motion planning and dynamic control of the Nomad 200 mobile robot in a laboratory environment found in the catalog.

Motion planning and dynamic control of the Nomad 200 mobile robot in a laboratory environment

by Ko-Cheng Tan

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Published by Naval Postgraduate School, Available from National Technical Information Service in Monterey, Calif, Springfield, Va .
Written in English


About the Edition

Motion planning and control of a Nomad 200 mobile robot are studied in this thesis. The objective is to develop a motion planning and control algorithm that is able to move the robot from an initial configuration (position and orientation) to a goal configuration in a typical laboratory environment. The robot must be able to avoid unknown static (e.g., walls and tables) and dynamic (e.g., people) obstacles. Dubin"s algorithm finds the shortest path connecting two configurations in an obstacle-free environment, but it is not able to avoid obstacles present in the environment. The potential field algorithm is effective in avoiding unknown obstacles, but it has the local minimum problem and does not consider the orientation of a mobile robot. A modified potential field algorithm is first developed. The algorithm overcomes local minima in a typical laboratory environment. The modified potential field algorithm is then combined with Dubin"s algorithm to incorporate orientation into motion planning. The combined algorithm is able to avoid static and dynamic obstacles and achieve position and orientation requirements. Simulation and physical experiment results are presented to demonstrate the effectiveness of the algorithm.

Edition Notes

StatementKo-Cheng Tan
The Physical Object
Pagination79 p. ;
Number of Pages79
ID Numbers
Open LibraryOL25266343M

navigation of a mobile robot in a completely or partially unknown environment. A neuro-fuzzy controller based mobile robot navigation presented by Kim and Trivedi [24]. In this study they have implemented neural integrated fuzzy controller to control the mobile robot motion . Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning.

on a robot may need to be respected to nd a solution (such as parallel parking); and low-level, or local planning which involves avoiding immediate obstacles while respecting all motion constraints, but is only concerned with reaching goals in a small area. Some state of the art mobile robot systems use planning for low-level control. Optimal Trajectories for Nonholonomic Mobile Robots P. Souères and J.-D. Boissonnat: Download: Chapter 4: Feedback Control of a Nonholonomic Car-like Robot A. De Luca, G. Oriolo and C. Samson: Download: Chapter 5: Probabilistic Path Planning P. Svestka and M.H. Overmars: Download: Chapter 6: Collision Detection Algorithms for Motion Planning.

  This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control Cited by: The objective in motion planning is to compute a motion tra-jectory from an initial state to a goal region that avoids col-lisions with obstacles. In addition, motion planning needs to take into account the underlying robot dynamics in order to plan dynamically-feasible motions that the robot .


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Motion planning and dynamic control of the Nomad 200 mobile robot in a laboratory environment by Ko-Cheng Tan Download PDF EPUB FB2

Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis Collection Motion planning and dynamic control of the Nomad mobile robot in a laboratory environment.

Motion Planning and Dynamic Control of the Nomad Mobile Robot in a Laboratory Environment [Ko-Cheng Tan] on *FREE* shipping on qualifying : Ko-Cheng Tan. Motion planning and control of a Nomad mobile robot are studied in this thesis.

The objective is to develop a motion planning and control algorithm that is able to move the robot from an initial. Robot Motion will serve this emerging audience as a single source of information on current research in the field. The book brings together nineteen papers of fundamental importance to the development of Cited by:   The paper is the second part of the work concerned with the motion planning and control of PIAP IRYS social robot mobile platform, which is the adapted NOMAD robot with synchronously driven and steered wheels Author: Marcin Słomiany, Przemysław Dąbek, Maciej Trojnacki.

Approved for public release; distribution in planning and control of a Nomad mobile robot are studied in this thesis. The objective is to develop a motion planning and control algorithm that is able to move the robot Author: Ko-Cheng Tan.

Guidelines in Nonholonomic Motion Planning for Mobile Robots. Geometry of Nonholonomic Systems. Optimal Trajectories for Nonholonomic Mobile Robots. Feedback Control of a Nonholonomic Car-like Robot. Probabilistic Path Planning. Collision Detection Algorithms for Motion Planning.

Especially, in dynamic environments, for two-wheeled mobile robot proposed a motion planning strategy, where the translational speed of the robot is defined by considering the distance between robot and obstacles, and the influence range of obstacles.

That is, the translational speed is decided without considering the orientation of the by: The motion planning problem of a mobile robot in a dynamic environment is to plan and control the robot motion from an initial position to track a moving target in a desired manner while avoiding moving obstacles.

The robot can either soft-land on the target where the velocity of the robot. foundation for future DUE motion planners. Robot motion planning in dynamic environments has re-cently received substantial attention due to the DARPA Urban Challenge [1] and growing interest in service and assistive robots (e.g., [2], [3]).

In urban environments, traffic rules define the expected behaviors of the dynamic. Introduction. Robot motion planning in dynamic environments is one of the areas of research in computer science and computational geometry.

The fundamental problem of motion planning is obtaining a collision-free path from start to goal for a robot that moves in a static and totally known environment Cited by: the robot starts its motion. On the other hand, local path planning means the environment is completely unknown to the mobile robot; in other words, the algorithm is capable of developing a new path to reach at the destination point.

We discuss path planning methodologies for autonomous mobile File Size: KB. The potential field method is widely used for autonomous mobile robot path planning due to its elegant mathematical analysis and simplicity. However, most researches have been focused on solving the motion planning problem in a stationary environment where both targets and obstacles are stationary.

This paper proposes a new potential field method for motion planning of mobile Cited by: The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators.

and for a robot that can have a complex geometry and has dynamics of its own. Hence, the motion planning problem has to deal with temporal, geometrical and physical constraints.

Algorithms that solve a motion planning problem, from here on referred to as motion planners, are part of the navigation system of a robot. National Institute of Technology RourkelaOdisha, India CERTIFICATE This is to certify that the work in the thesis entitled, “Motion Control Of Automated Mobile Robots in Dynamic Environment”.

Motion Planning with Safe Dynamics 5 waypoint cache, and with the remaining 1−p−q it picks a random state in the environment.

In order to implement ERRT we need an extend operator, a dis-tance function between robot states, a distribution for generating ran-dom states in the environment.

This thesis is concerned with robot motion planning in dynamic, cluttered, and uncertain environ-ments. Successful and efficient robot operation in such environments requires reasoning about the future system evolution and the uncertainty associated with obstacles and moving agents in the environment.

The procedure exhibits good dynamic behavior, while providing safety (collision avoidance) and fast response. Results of testing the approach on a commercial Nomad mobile robot are presented. Planning of mobile robot movement towards the target Forming control commands for executive devices Parking and rotation Overcoming dynamic obstacles Start Decision-making on the basis of dynamic mobile robot characteristics: Robot movement Finish Fig.

Main design tasks of mobile robot movement in an unknown environment File Size: KB. Abstract—This paper introduces a new path-motion planning method for autonomous mobile robot which should move safely in unknown Dynamic environment.

The environment may have numbers of obstacles of arbitrary shape and obstacles are allowed to move. We describe our approach to solve the motion-planning .motion planning and control within a single-stage pro- cedure.

The procedure exhibits good dynamic behavior, while providing safety (collision avoidance) and fast response. Results of testing the approach on a com- mercial Nomad mobile robot are presented. Also dascussed is the effect of model parameters on motzon performance.A Study of Mobile Robot Motion Planning Bang Wang B.

Sc., M. Sc. Abstracts This thesis studies motion planning for mobile robots in various environments. The basic tools for the research are the .