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Path planning for a mobile robot with grid type world model

Path planning for a mobile robot with grid type world model

引用

1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Chung, Hakyoung Choi, Yong Seek Lee, Jang Gyu Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Seoul151-741 Korea Republic of

ISBN: (纸本)0780307372

This paper describes a methodology of world modelling and path planning for a mobile robot. The world model, called a certainty grid for obstacle representation,is obtained from readings of ultrasonic sensors and more accurate world model is built by using the information of neighboring sonar sensors. A linear programming method for the shortest paths from many origins to a destination is proposed. The global path is generated with off-line calculation but the local paths are obtained on-line by table look-up method. It is implemented on a physical mobile robot. The results show that the certainty grid which is updated by our proposed method well represents a precise environment including the location of obstacles. The robot was enable to navigate to a destination avoiding obstacles with the path which is calculated by the proposed linear programming method. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Mobile robots

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Application of recursive partially unknown system identification to aerodynamic coefficients estimation

Application of recursive partially unknown system identifica...

引用

Astrodynamics Conference, 1992

作者： Kim, Won-Jong Lee, Jang Gyu Lee, Dal Ho Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Seoul151-742 Korea Republic of

Presented in this paper is an application to aerodynamic coefficients estimation of new recursive parameter identification algorithm which utilizes the recursive least squares (RLS) method and the constrained quadratic programming, useful for partially unknown systems described in state space. It is possible to combine the two independent techniques because they both minimize cost functions in least square sense. Also discussed is the convergence properties of the algorithm, showing that it converges well and fast. In order to demonstrate its practical use, the technique is applied to a set of discretized and linearized equations of the motion of an aircraft only to show a satisfactory result in identifying aerodynamic coefficients in the equations. © 1992 American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Cost functions

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Robot motion planning for time-varying obstacle avoidance using view-time concept

Robot motion planning for time-varying obstacle avoidance us...

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1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

作者： Ko, Nak Yong Lee, Bum Hee Ko, Myoung Sam Nam, Yun Seok Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Shinrim-Dong Kwanak-Ku Seoul151-742 Korea Republic of

ISBN: (纸本)0780300424

An approach to solving the time-varying obstacle avoidance problem is pursued. The mathematical formulation of the problem is given in robot joint space (JS). The view-time concept is introduced to deal with time-varying obstacles. The view-time is the period in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is the volume swept by the time-varying obstacle for the view-time. The swept volume is transformed into the JS obstacle that is the set of robot configurations causing the collision between the robot and the swept volume. In JS, the path avoiding the JS obstacle is planned, and a trajectory satisfying the constraints on robot motion planning is planned along the path. This method is applied to the collision-free motion planning of two SCARA robots, and the simulation results are given. © 1992 IEEE.

关键词： Collision avoidance

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An approach to interconnection, modelling and simulation for a multi-robot workcell

An approach to interconnection, modelling and simulation for...

引用

1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

作者： Lee, Ki Dong Lee, Bum Hee Ko, Myoung Sam Hong, Jee Min Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Shinrim-Dong Kwanak-Ku Seoul151-742 Korea Republic of

ISBN: (纸本)0780300424

For a robotic workcell with multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multi-robot interconnection system (MRIS), the authors turn the knowledge of multiple processor system (MPS) or multiple computer system (MCS) to good account. The systems are modelled using the queuing network. Performance evaluation is done through the mean value analysis with their response time and the probability of service failure under different workloads. To verify the significance of the proposed analysis method, a computer simulation is performed. The results together with comments suggest some useful guidelines for selecting an appropriate interconnection method for the MRIS. © 1992 IEEE.

关键词： Industrial robots

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Performance and parameter region for real time use in IEEE 802.4 token bus network

Performance and parameter region for real time use in IEEE 8...

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International Conference on Industrial Electronics, control and Instrumentation

作者： Hong Seong Park Deok-Woo Kim Wook Hyun Kwon Engineering Research Center for Advanced Control and Instrumentation and Automation and Systems Research Institute Seoul National University Seoul South Korea

The authors derive the upper and the lower bounds for the mean cycle time and the mean message transmission time of class six and class four in the IEEE 802.4 token bus network, within which the minimum utilization constraint of class four is guaranteed. They also derive stability conditions for the token bus network. These bounds and stability conditions are represented in terms of the high priority token hold time, the token rotation time, the arrival rate, the total station number, etc. A parameter tuning algorithm is proposed in a partially symmetric token bus network with two classes. This algorithm maximizes the utilization of class four for a given high priority token hold time and at the same time meets the constraints of the stability condition of the network, the real time constraint, and the minimum utilization of class four.< >

关键词： Intelligent networks Stability Computer aided manufacturing Time factors Computer integrated manufacturing Delay effects Real time systems Automatic control control systems Instruments

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Robot motion planning for time-varying obstacle avoidance using view-time concept

Robot motion planning for time-varying obstacle avoidance us...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Nak Yong Ko Bum Hee Lee Myoung Sam Ko Yun Seok Nam Automation and Systems Research Institute Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

关键词： Robot motion Motion planning Path planning Robot kinematics Orbital robotics Space stations Robotics and automation Trajectory Motion analysis Automatic control

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Path Planning For A Mobile Robot With Grid Type World Model

Path Planning For A Mobile Robot With Grid Type World Model

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Hakyoung Chung Yong Seek Choi Jang Gyu Lee Automation and Systems Research Institute &Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

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An approach to interconnection, modelling and simulation for a multi-robot workcell

An approach to interconnection, modelling and simulation for...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Ki Dong Lee Bum Hee Lee Myoung Sam Ko Jee Min Hong Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

关键词： Magnetic resonance imaging Robotics and automation Service robots Failure analysis Performance analysis Job production systems Manufacturing industries Computer aided manufacturing Flexible manufacturing systems Automatic control

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An application of force ellipsoid to the optimal load distribution for two cooperating robots

An application of force ellipsoid to the optimal load distri...

引用

IEEE International Conference on Robotics and automation (ICRA)

作者： M.H. Choi B.H. Lee M.S. Ko Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul South Korea

The optimal load distribution for two cooperating robots is studied, and a solution approach utilizing a force ellipsoid is presented. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function. The effort exerted by the robots to follow the specified motion is defined to be the joint torque norm square, and the optimal solution minimizing the effort is obtained using the concept of the force ellipsoid and nonlinear optimization theory. Despite the presence of the joint torque constraints, the optimal solution is obtained almost as a closed form which requires small computation time. The proposed solution approach is illustrated and the internal force effect is studied using a numerical example.< >

关键词： Ellipsoids Robotics and automation Torque Performance analysis Manipulators Service robots Orbital robotics Vectors Instruments Fixtures

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Robustness and Identification Issues in Horizon Predictive control With Application to a Binary Distillation Column

Robustness and Identification Issues in Horizon Predictive C...

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American control Conference (ACC)

作者： D.E. Rivera K.S. Jun E. Elisante V.E. Sater B. C. Horn Department of Chemical Bio and Materials Engineering and Control Systems Engineering Laboratory Computer-Integrated Manufacturing Systems Research Center Arizona State University Tempe AZ USA Honeywell Industrial Automation and Control Phoenix AZ USA

This paper analyzes the robustness properties and modeling requirements for model-predictive control via Horizon Predictive control (HPC). The theory of Structured Singular Values is used to determine optimal values for the correction horizon in HPC given user-provided uncertainty intervals and performance weights. Regarding system identification, control-relevant identification principles are used to provide guidelines for input signal design, prefiltered estimation, and uncertainty modeling. These results are tested experimentally using data from a methanol-isopropanol distillation column.

关键词： Robust control Predictive control Distillation equipment Predictive models Uncertainty System identification control system synthesis Guidelines Signal design Testing

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