Nothing Special   »   [go: up one dir, main page]

Wang et al., 2023 - Google Patents

Improved A* algorithm and model predictive control-based path planning and tracking framework for hexapod robots

Wang et al., 2023

Document ID
1558989282854790746
Author
Wang Z
Gao F
Zhao Y
Yin Y
Wang L
Publication year
Publication venue
Industrial Robot: the international journal of robotics research and application

External Links

Snippet

Purpose Path planning is a fundamental and significant issue in robotics research, especially for the legged robots, since it is the core technology for robots to complete complex tasks such as autonomous navigation and exploration. The purpose of this paper is …
Continue reading at www.emerald.com (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Similar Documents

Publication Publication Date Title
Wang et al. Hierarchical path planning of unmanned surface vehicles: a fuzzy artificial potential field approach
Sabelhaus et al. Model-predictive control of a flexible spine robot
Wang et al. Improved A* algorithm and model predictive control-based path planning and tracking framework for hexapod robots
Kashyap et al. Optimization of stability of humanoid robot NAO using ant colony optimization tuned MPC controller for uneven path
Mbede et al. Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems
Hamed et al. Hierarchical and safe motion control for cooperative locomotion of robotic guide dogs and humans: A hybrid systems approach
Karkoub et al. Trajectory tracking control of unicycle robots with collision avoidance and connectivity maintenance
Zhang et al. Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple maneuvering modes
Takahashi et al. Optimal configuration control of planar leg/wheel mobile robots for flexible obstacle avoidance
Sakayori et al. Energy-aware trajectory planning for planetary rovers
Zhou et al. A hybrid obstacle avoidance method for mobile robot navigation in unstructured environment
Han et al. Robust optimal control of omni-directional mobile robot using model predictive control method
Yavari et al. Interleaved Predictive Control and Planning for an Unmanned Aerial Manipulator With on-the-Fly Rapid Re-Planning in Unknown Environments
Nayak et al. A heuristic-guided dynamical multi-rover motion planning framework for planetary surface missions
Topalov et al. Fuzzy-net control of non-holonomic mobile robot using evolutionary feedback-error-learning
Hadi Amoozgar et al. A fuzzy logic‐based formation controller for wheeled mobile robots
Tang et al. Robotic motion planning in unknown dynamic environments: Existing approaches and challenges
Yang et al. Perception-aware path finding and following of snake robot in unknown environment
Raj et al. Dynamically feasible trajectory planning for anguilliform-inspired robots in the presence of steady ambient flow
Azouaoui et al. Soft‐computing based navigation approach for a bi‐steerable mobile robot
Parhi et al. Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot
Afdila et al. Distributed formation control for groups of mobile robots using consensus algorithm
Miah et al. Universal dynamic tracking control law for mobile robot trajectory tracking
Galicki Collision-free control of an omni-directional vehicle
Cheng et al. A new procedure for multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control: mode description and integration principle