A randndom profile approach to minimum-time parking proplems for non-holnomic wheeled mobile robots
Joint Authors
Source
Journal of Automation and Systems Engineering
Issue
Vol. 1, Issue 1 (31 Dec. 2007), pp.23-31, 9 p.
Publisher
Publication Date
2007-12-31
Country of Publication
Algeria
No. of Pages
9
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Topics
Abstract EN
We present in this paper a variant of a stochastic method of trajectory planning recently developed for non-holozoic mobile robots mobile robots in the presence of static obstacles in the workspace.
This variant makes use of cubic spine function to mobile the x, y components of the geometric path followed by the robot as well as the motion on this path.
The minimum-time trajectory is determined via a hill-climbing technique with variable interval size.
Results are presented for parking problem under bounded torque constraints and for various parking configurations (parallel, diagonal and row parking).
American Psychological Association (APA)
Kahoul, L.& Lehtihet, A. E.. 2007. A randndom profile approach to minimum-time parking proplems for non-holnomic wheeled mobile robots. Journal of Automation and Systems Engineering،Vol. 1, no. 1, pp.23-31.
https://search.emarefa.net/detail/BIM-184640
Modern Language Association (MLA)
Kahoul, L.& Lehtihet, A. E.. A randndom profile approach to minimum-time parking proplems for non-holnomic wheeled mobile robots. Journal of Automation and Systems Engineering Vol. 1, no. 1 (Dec. 2007), pp.23-31.
https://search.emarefa.net/detail/BIM-184640
American Medical Association (AMA)
Kahoul, L.& Lehtihet, A. E.. A randndom profile approach to minimum-time parking proplems for non-holnomic wheeled mobile robots. Journal of Automation and Systems Engineering. 2007. Vol. 1, no. 1, pp.23-31.
https://search.emarefa.net/detail/BIM-184640
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 30-31
Record ID
BIM-184640