tailieunhanh - Design and implementation of novel motion planning for a WMR with the presence of obstacles

This paper presents new methods to solve problems caused by the navigation of a self-directed Wheeled Mobile Robot (WMR) in unknown environments which may contain unknown-positions & dimensions regular rectangle static obstacles. This work has been implemented in several stages. | Journal of Automation and Control Engineering Vol. 6, No. 1, June 2018 Design and Implementation of Novel Motion Planning for a WMR with the Presence of Obstacles Essa Alghannam, Lu Hong, Yang Zhen and Oula Esmail School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China Email: essaalghannam@, landzh@, 781289620@, oulaesmail@ common non-holonomic systems jumping robot and 4WMR [1]. Chained control system algorithm with sinusoidal inputs based on Lie Algebra has been implemented for steering these systems with nonholonomic constraints between arbitrary configurations. They introduced chained form of non-holonomic control system with two inputs also and show by sinusoidal inputs how to steer a car and a car with a trailer attached between arbitrary states [2]. Bushnell, L., Tilbury, D. and Sastry, S. discussed the sinusoidal input control algorithm and its application in three input chained form nonholonomic systems [3]. For a fire truck system, Tilbury, D. proposed a multi-rate controls algorithm [4]. This fire truck system can be converted into three input chain systems. Sheng, L. studied the motion planning of nonholonomic systems based on bang-bang control for ndimensional chained form systems with two inputs [5]. Liu, Y., Li, L. and Tan, Y. proposed a cosine switch control method for non-holonomic chained form system [6]. Deng, M. presented parking control scheme of a 2WMR using artificial potential Lyapunov function [7]. Urakubo, T. proposed a feedback controller that makes a two WMR converge to a desired point among obstacles such as a flat wall and a pillar [8]. Ge, S. and Cui, Y. proposed a new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving [9]. Rusu, C. and Birou, I. developed a fuzzy obstacle avoidance system for an autonomous mobile robot using IR detection sensors [10]. Yuki, O. addressed two .

• Cơ khí - Chế tạo máy
• Journal of Automation and Control Engineering
• Design novel motion planning
• Implementation of novel motion planning
• WMR with the presence of obstacles
• Collision free motion planning of WMRs
• Self directed Wheeled Mobile Robot
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