Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance 论文内容概括 比较了人工势场法Artificial Potential Fields和CBF Control Barrier Function在Motion Control避障中的效果,并把CBF和APF结合做避障。 CBF的避障项全程都起作用,会过于保守,结合APF的Urep在一定范围内...
Key tasks for autonomous vehicle safety should be (1) strong execution through dynamic planning of motion and (2) shared environment with other vehicles and pedestrians through feedback control. The purpose of this chapter is to present the state-of-the-art planning and control algorithms, ...
Motion planning and control of a planar polygonal linkage For a polygonal linkage, we produce a fast navigatPaninaRASGaianeRASSiersmaRASDirkRASNSTLJOURNAL OF SYMBOLIC COMPUTATION Panina,Gaiane,Siersma,... - 《Journal of Symbolic Computation》 被引量: 0发表: 2018年 Motion Planning for Highly Autom...
Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to ...
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A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles[J/OL]. IEEE Transactions on Intelligent Vehicles, 2016, 1(1): 33-55. DOI:10.1109/tiv.2016.2578706. 这篇文章将运动规划分为了path planning和trajectory planning,分别对应在静态障碍物场景以及动态障碍物场景下的planning...
TheRobotics Library(RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control. It covers spatial vector algebra, multibody systems, hardware abstraction, path planning, collision detection, and visualization. It is being used in research projects and in...
The control system manages the operation of the motion actuators and the brakes to realize the reconfiguration sequences through tensioning the cables. The paper reports the structure’s design concept, motion planning and control. The implementation of the structural reconfiguration approach and related...
1.Dynamic Motion Planning of Flexible Underactuated Manipulators;柔性欠驱动机械臂的动力学运动规划 2.Motion Planning of Mobile Manipulator Based on Genetic Algorithms;基于遗传算法的移动机械手运动规划 3.Motion Planning and Control of Horizontal Underactuated Robots水平运动的欠驱动机器人运动规划与控制研究 4....
Motion Planning and Control of a Space Robot to Capture a Tumbling DebrisSpace robotics has emerged as one of the key technology for on-orbit servicing or debris removal issues. In the latter, the target is a specific point of a tumbling debris, that the chaser satellite must accurately ...