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Prace Naukowe Instytutu Matematyki i Informatyki Politechniki Częstochowskiej

Tytuł artykułu

Consideration of the diffusiveness of robot and obstacle movement parameters in the control procedure

Autorzy Piech, H.  Śpiewak, M. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
EN The article considers the methods of bypassing moving obstacles by the robot and assesses the risk of robot colliding with an obstacle, with an uncertain knowledge on the velocity of movement of the robot and obstacles. The uncertain knowledge on the velocity concerns the fluctuations of this quantity due to a slip, surface irregularity, etc. We will lay out the robot's route based on the prediction of the location of obstacles at the moment of being approached by the robot. The aim of the study is also an attempt to assess the risk of a collision of the robot and an obstacle, depending on the character and magnitude of diffusiveness of the moving objects. For the sake of simplicity, we assume that we will not take into account reactions resulting from mutual collisions of obstacles, thus assuming that the obstacles do not collide with each other. For the prediction of the position of an obstacle, we use the information of the directions of the robot and obstacle routes and the velocities of object movement. The term "diffusiveness of obstacle position prediction" appears in the article, which takes account of the uncertain information of object velocities.
Słowa kluczowe
PL roboty   proces sterowania  
EN robots   control process  
Wydawca Wydawnictwo Politechniki Częstochowskiej
Czasopismo Prace Naukowe Instytutu Matematyki i Informatyki Politechniki Częstochowskiej
Rocznik 2004
Tom Vol. 3, nr 1
Strony 175--183
Opis fizyczny Bibliogr. 9 poz., rys.
autor Piech, H.
autor Śpiewak, M.
  • Institute of Mathematics and Computer Science, Czestochowa University of Technology
Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-article-BPC6-0029-0024