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Collision-Free Composite ?3–Splines Generation for Nonholonomic Mobile Robots by Parallel Variable-Length Genetic Algorithm
2008 Edition, December 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

A G3-continuous path planner for wheeled non-holonomic mobile robots is presented, where the path is a composite curve composed of a number of eta3-splines segments. Based on the variable-length genetic algorithm implemented in the...

Generating minimax-curvature and shorter η3-spline path using multi-objective variable-length genetic algorithm
2010 Edition, April 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

As a continuing work on G3-continuous path planning for nonholonomic wheeled unicycle-type nonholo-nomic mobile robot in the predefined static environment, this paper accounts for a multi-objective path optimization problem that directly incorporates the...

Mobile robot path planning with η3-splines using spatial-fitness-sharing variable-length genetic algorithm
2009 Edition, October 1, 2009 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper presents a novel evolutionary G3-continuous (continuous-differentiable curvature) path planner for nonholonomic wheeled mobile robots. The evolutionary path planner generates intermediate configurations connected via η3-splines that yields a...

High-quality path planning for autonomous mobile robots with η3-splines and parallel genetic algorithms
2009 Edition, February 1, 2009 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper we apply the composite η3 splines to collision-free curvature-derivative continuous shorter path planning of wheeled mobile robots, modelled as unicycle, within known static environments. The path planning problem is formulated as a...

Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Due to the nonholonomic constraints as well as the constraints on torque and power resources, it is challenging to design a controller to asymptotically stabilize a nonholonomic robot at a predefined pose. In this paper, a switched controller is introduced for asymptotic...

Automatic Two-Lane Path Generation for Autonomous Vehicles using Quartic B-spline Curves
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, we introduce an algorithm for generating collision-free two-lane paths for unmanned vehicles used at mining sites by using quartic (degree 4) B-spline curves. Given the boundary geometry of the haul road area and the positions and...

Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity
2019 Edition, Volume 4, January 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Due to the nonholonomic constraints as well as the constraints on torque and power resources, it is challenging to design a controller to asymptotically stabilize a nonholonomic robot at a predefined pose. In this paper, a switched controller is introduced for the...

Motion Tracking Control Design for a Class of Nonholonomic Mobile Robot Systems
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Motion tracking control design of nonholonomic mobile robot systems considering actuator dynamics is addressed in this paper. A trajectory tracking controller is designed at actuator level, which guarantees that the nonholonomic mobile robot tracks a given...

Cooperative Control for Moving-Target Circular Formation of Nonholonomic Vehicles
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This note investigates the problem of moving-target circular formation of nonholonomic vehicles, such that the controlled vehicles orbit around a target moving with a time-varying velocity and maintain even spacing along the common circle. A cooperative controller is developed for...

Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, we consider the problem of general topology control in multirobot systems with nonholonomic kinematics. Our contribution is twofold: We first demonstrate the correctness of topology control under the assumption that the network topology can switch arbitrarily and that...

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