Wyniki wyszukiwania - BazTech

Ograniczanie wyników

Powiadomienia systemowe

Sesja wygasła!

Znaleziono wyników: 2

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: chained-form

Sortuj według:

Ogranicz wyniki do:

Sub-optimal motion planning of one-chained, two-input nonholonomic systems

Duleba Ignacy, Karcz-Duleba Iwona

Bulletin of the Polish Academy of Sciences. Technical Sciences

2023

Vol. 71, nr 3

art. no. e145684

In this paper three algorithms of motion planning for two-input, one-chained nonholonomic systems are presented. The classical Murray-Sastry algorithm is compared with two original algorithms aimed at optimizing energy of controls. Based on the generalized Campbell- Baker-Hausdorff-Dynkin formula applied to the systems, some observations are made concerning the optimal relationship between amplitudes and phases of harmonic controls. The observations help to optimize a selection of controls and to design new algorithms for planning a sub- optimal trajectory between given boundary configurations. It was also shown that for those particular systems the generalized C-B-H-D formula is valid not only locally (as in a typical case) but also globally. Simulations performed on the five-dimensional chain system facilitate distinguishing the proposed algorithms from the Murray-Sastry algorithm and to illustrate their features. Systems in a chained form are important from a practical point of view as they are canonical for a class of systems transformable into this form. The most prominent among them are mobile robots with or without trailers.

Autonomous Vehicle Passage on a Predetermined Path

Olchowik M., Radkowski S.

Machine Dynamics Research

2017

Vol. 41, No. 2

17--29

The work discusses the problem of autonomous vehicle control during its passage on a predetermined path. In the autonomous vehicle, the computer takes on all the activities related to driving, which in a standard vehicle are performed by the driver. The geometric trace is, in such a case, followed automatically with no human intervention whatsoever. The autonomous vehicle should be able to complete the journey safely, i.e. without going off the track, turning abruptly or skidding. This is ensured by two, properly designed and implemented regulators: the front-wheel turning angle regulator and the vehicle longitudinal velocity regulator. Restrictions of the vehicle angular velocity related to the tire-road friction and maximum turning angle of the front wheels were also imposed.