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Journal of Automation Mobile Robotics and Intelligent Systems
EN A novel method for real-time coordinated trajectory planning and obstacle avoidance of autonomous mobile robot systems is presented. The desired autonomous system trajectories are generated from a set of first order ODEs. The solution to this system of ODEs converges to either a desired target posit[...]
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Pomiary Automatyka Robotyka
PL Przedstawiono metody planowania trajektorii ruchu autonomicznych pojazdów sterowanych automatycznie śledzących znaczniki umieszczone na powierzchni ruchu. Opisano najczęściej stosowane w robotyce metody planowania ścieżki oraz omówiono wady i zalety metod grafowych. Przedstawiono oraz dokonano weryf[...]
EN The methods of path planning for AGVs which are tracking markers on the motion area are presented. This paper describes the most popular methods for path planning as well as faults and advantages of graphs methods. Depth-first search, breadth-first search and heuristic search as the most often used [...]
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Logistics and Transport
2014 Vol. 21, No. 1 105--114
EN The article has presented a general idea for an algorithm that would allow for determining the optimal parameters of vehicle movement. The sources of energy dissipation have been assumed as follows: damage to the engine and the drive. In addition, the mathematical basis have been presented for asses[...]
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International Journal of Electronics and Telecommunications
EN The paper proposes solution for two important issues connected to navigation of independent mobile platforms in an unknown environment. First issue relates to obstacle map, estimated based on stereovision images. It provides a basis for further platform path-planning. The main problem that has to be[...]
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Metrology and Measurement Systems
2016 Vol. 23, nr 1 119--132
EN This paper presents optimisation of a measuring probe path in inspecting the prismatic parts on a CMM. The optimisation model is based on: (i) the mathematical model that establishes an initial collision-free path presented by a set of points, and (ii) the solution of Travelling Salesman Problem (TS[...]
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Archives of Control Sciences
EN A blimp is a small airship that has no metal framework and collapses when deflated. In the first part of this paper, kinematics and dynamics modelling of small autonomous non rigid airships is presented. Euler angles and parameters are used in the formulation of this model. In the second part of the[...]
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TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
2013 Vol. 7, no. 2 293--300
EN This article presents the use of a multi‐population distributed evolutionary algorithm for path planning in navigation situation. The algorithm used is with partially exchanged population and migration between independently evolving populations. In this paper a comparison between a multi‐population [...]
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Journal of Automation Mobile Robotics and Intelligent Systems
EN We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on Type-2 Fuzzy Logic Theory and Genetic Algorithms. Computer simulations are presented confirming the performance of the tracking controller and its applicatio[...]
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Journal of Automation Mobile Robotics and Intelligent Systems
EN Path planning is one of the most vital problems in mobile robotics; it falls into general province of planning, however, due to specificity of the subject of mobile robotics, it has emerged as a discipline per se with its own solutions. Among many methods of probabilistic, geometrical and topologica[...]
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Bulletin of the Polish Academy of Sciences. Technical Sciences
EN In this paper we propose a sensor-based navigation method for navigation of wheeled mobile robot, based on the Kohonen self-organising map (SOM). We discuss a sensor-based approach to path design and control of wheeled mobile robot in an unknown 2-D environment with static obstacles. A strategy of r[...]
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Journal of Theoretical and Applied Mechanics
2015 Vol. 53 nr 4 911—923
EN A mobile flexible manipulator is developed in order to achieve high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load[...]
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Archives of Control Sciences
EN An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal posi[...]
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Journal of Automation Mobile Robotics and Intelligent Systems
EN We present a novel method of fast and reliable data gathering for the purpose of location services based on radio signal strength services such as WiFi location/ navigation. Our method combines the acquisition of location and mapping based on computer vision methods with WiFi signal strength stochas[...]
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Computer Applications in Electrical Engineering
2014 Vol. 12 422--433
EN In this paper artificial potential fields method applied to autonomous mobile robot -mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. The object can be inserted by graphic data in[...]
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Journal of Theoretical and Applied Mechanics
2017 Vol. 55 nr 3 801--812
EN Optimization algorithms use various mathematical and logical methods to find optimal points. Given the complexity of models and design levels, this paper proposes a heuristic optimization model for surface-to-air missile path planning in order to achieve the maximum range and optimal height based on[...]
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Poznan University of Technology Academic Journals. Electrical Engineering
2014 No. 80 183--189
EN In this paper artificial potential fields method applied to autonomous mobile robot - Mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. Inserted by graphic data input interface in [...]
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International Journal of Applied Mathematics and Computer Science
EN An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a "quasi-dynamic" NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variab[...]
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International Journal of Applied Mathematics and Computer Science
EN This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. A[...]
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Zeszyty Naukowe / Akademia Morska w Szczecinie
PL Artykuł przedstawia zastosowanie operatora krzyżowania uśredniającego do wyznaczania ścieżki przejścia przy użyciu algorytmu ewolucyjnego w zastosowaniu do unikania kolizji na morzu. Krzyżowanie uśredniające zapewnia rozszerzenie zbioru rozwiązań możliwych do uzyskania w porównaniu z wariantem krzyż[...]
EN This paper presents the use of mean crossover genetic operator for path planning using evolutionary algorithm for collision avoidance on sea. Mean crossover ensures widening of the possible solutions’ set that can be achieved in comparison to exchange crossover variant. The research shown, that the [...]
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Zeszyty Naukowe. Automatyka / Politechnika Śląska
2006 z. 145 19-28
PL Praca przedstawia przykłady planowania ścieżki manipulatorów robotów przemysłowych za pomocą metody B-PPT. Metoda B-PPT: Probabilistyczne planowanie trajektorii z zastosowaniem krzywych B-sklejanych łączy w sobie algorytm probabilistyczny oraz modelowanie współrzędnych naturalnych za pomocą krzywych[...]
EN This paper presents a new approach to path planning. We present results of robot path planning using B-PPT method. The method is based on probabilistic algorithms and B-splines curves of three degree. The B-PPT method is the result of analyzing PRM method and RRT method.
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