Temat: path planning - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
Autorzy:: Małecki, Tomasz
Narkiewicz, Janusz
Powiązania:: https://bibliotekanauki.pl/articles/2086976.pdf
Data publikacji:: 2022
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: algorithm
modeling
path planning
SLAM
Opis:: A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles. The algorithm, which was implemented in MATLAB software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a ‘force’ points method for collision avoidance and definition of the next-step of platform motion. The proposed approach may be incorporated into real-time applications with limited on-board computational resources.
Źródło:: Journal of Theoretical and Applied Mechanics; 2022, 60, 2; 317--328
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Payload Maximization for Mobile Flexible Manipulators in Environment with an Obstacle
Autorzy:: Heidari, H.
Haghpanahi, M.
Korayem, M. H.
Powiązania:: https://bibliotekanauki.pl/articles/279299.pdf
Data publikacji:: 2015
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: flexible link
nonholonomic mobile manipulator
optimal control
obstacle
path planning
Opis:: A mobile flexible manipulator is developed in order to achieve high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators. The full dynamic model of a wheeled mobile base and the mounted flexible manipulator is considered with respect to dynamics of non-holonomic constraint in environment including an obstacle. In dynamical analysis, an efficient model is employed to describe the treatment of a flexible structure in which both the geometric elastic nonlinearity and the foreshortening effects are considered. Then, a path planning algorithm is developed to find the maximum payload that the optimal strategy is based on the indirect solution to the open-loop optimal control problem. In order to verify the effectiveness of the presented algorithm, several simulation studies are carried out for finding the optimal path between two points in the presence of obstacles. The results clearly show the effect of flexibility and the proposed approach on mobile flexible manipulators.
Źródło:: Journal of Theoretical and Applied Mechanics; 2015, 53, 4; 911-923
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Surface-to-air missile path planning using genetic and PSO algorithms
Autorzy:: Zandavi, S. M.
Powiązania:: https://bibliotekanauki.pl/articles/280277.pdf
Data publikacji:: 2017
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: path planning
genetic algorithm
PSO algorithm
surface-to-air missile
3DOF simulation
Opis:: Optimization algorithms use various mathematical and logical methods to find optimal points. Given the complexity of models and design levels, this paper proposes a heuristic optimization model for surface-to-air missile path planning in order to achieve the maximum range and optimal height based on 3DOF simulation. The proposed optimization model involves design variables based on the pitch programming and initial pitch angle (boost angle). In this optimization model, we used genetic and particle swarm optimization (PSO) algorithms. Simulation results indicated that the genetic algorithm was closer to reality but took longer computation time. PSO algorithm offered acceptable results and shorter computation time, so it was found to be more efficient in the surface-to-air missile path planning.
Źródło:: Journal of Theoretical and Applied Mechanics; 2017, 55, 3; 801-812
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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