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Time-optimal Trajectories for an Omni-directional Vehicle

Devin J. Balkcom, Paritosh A. Kavathekar, Matthew T. Mason
2006 The international journal of robotics research  
Unlike a steered car, a vehicle with this design can move in any direction without needing to rotate first, and can spin as it does so. The shortest paths for this vehicle are straight lines.  ...  We derive the analytical fastest trajectories between configurations. The time-optimal trajectories contain only spins in place, circular arcs, and straight lines parallel to the wheel axles.  ...  Lab for invaluable advice and guidance in this work.  ... 
doi:10.1177/0278364906069166 fatcat:7jihpl3amjbave3h45o3igki5m

Analytical time-optimal trajectories for an omni-directional vehicle

Weifu Wang, Devin J. Balkcom
2012 2012 IEEE International Conference on Robotics and Automation  
We present the first analytical solution method for finding a time-optimal trajectory between any given pair of configurations for a three-wheeled omni-directional vehicle in an obstacle-free plane.  ...  An analytical solution method has previously been presented for singular trajectories; this paper completes the work and presents the solution for generic trajectories.  ...  The result shows that the time-optimal trajectories for an omni-directional vehicle are mostly roll and shuffle for initial configurations not far (combine the distance and the angle difference) from the  ... 
doi:10.1109/icra.2012.6224602 dblp:conf/icra/WangB12 fatcat:vumhofzm4zcchgmwaz6b3k5voy

FPGA-Based Mechatronic Design and Real-Time Fuzzy Control with Computational Intelligence Optimization for Omni-Mecanum-Wheeled Autonomous Vehicles

Hsu-Chih Huang, Chin-Wang Tao, Chen-Chia Chuang, Jing-Jun Xu
2019 Electronics  
The proposed CS-fuzzy computing scheme was then applied to design an optimal real-time control method for omni-Mecanum-wheeled autonomous vehicles with four wheels.  ...  This study presents a field-programmable gate array (FPGA)-based mechatronic design and real-time fuzzy control method with computational intelligence optimization for omni-Mecanum-wheeled autonomous vehicles  ...  This work not only presents an evolutionary CS-fuzzy optimization, but also designs an FPGA-based real-time CS-fuzzy controller for omni-Mecanum-wheeled vehicles.  ... 
doi:10.3390/electronics8111328 fatcat:46pvxm2qsrdj7g77ks4flnokrq

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

Siying Long, Tatsuro Terakawa, Masaharu Komori, Takumi Ougino
2020 IEEE Access  
This study aims to clarify and compare the phenomena that occur in the possible least-time driving strategies for an omni-wheeled vehicle while it turns a corner.  ...  Vehicles equipped with omnidirectional wheels can move in any direction, which means that many driving strategies are available, even for a simple task like turning a corner.  ...  These studies aim to search for the time-optimal trajectory when vehicles with omnidirectional mobility need to avoid obstacles.  ... 
doi:10.1109/access.2020.2999344 fatcat:u2hbk6jw3nayjed4krvgwqpkxe

On distributed mechatronics controller for omni‐directional autonomous guided vehicles

Nkgatho Sylvester Tlale, Jeanne Dietsch
2006 Industrial robot  
Originality/value -The paper tries to show the advantages of distributed controller for omni-directional vehicles.  ...  Omni-directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle.  ...  Introduction Omni-directional mobile vehicle Automated guided vehicles (AGVs) that are controlled in real-time have become an integral part of modern reconfigurable manufacturing systems.  ... 
doi:10.1108/01439910610667890 fatcat:g4g2v5o37nagdpkrivfj3cwsrm


Vishnu Navda, Anand Prabhu Subramanian, Kannan Dhanasekaran, Andreas Timm-Giel, Samir Das
2007 Proceedings of the 5th international conference on Mobile systems, applications and services - MobiSys '07  
For the cached mode, an optimal algorithm for AP and beam selection is developed that factors in all overheads.  ...  the performance advantage of using MobiSteer over using an equivalent omni-directional antenna.  ...  ACKNOWLEDGMENT We would like to thank Fidelity Comtech [1] for providing excellent technical support for the Phocus Array antenna devices and answering many questions.  ... 
doi:10.1145/1247660.1247684 dblp:conf/mobisys/NavdaSDTD07 fatcat:j3hzpytxnfa6fjemdi6a4ts5he

Parametric Uncertainties Prone Adaptive Control Method for Omni Directional Vehicle

Ansu Man Singh, Felipe P. Vista IV, Kil To Chong
2016 International Journal of Control and Automation  
The proposed controller takes into account the dynamics of the wheeled omnidirectional robot when adaptive linear control with computed torque is utilized for tracking its trajectory.  ...  The adaptive linear control method is used to overcome the degradation of the computed torque when there is drift in vehicle parameters.  ...  An omni directional vehicle for rough terrain that utilized a widely used type of wheel called Swedish or Omni wheels was also proposed [2] .  ... 
doi:10.14257/ijca.2016.9.5.33 fatcat:2up7bag2uza35iqs72srxgcjf4

The Cornell RoboCup Robot Soccer Team: 1999–2003 [chapter]

Raffaello D'Andrea
2005 Handbook of Networked and Embedded Control Systems  
In the absence of obstacles, nearly time-optimal trajectories were generated for the omni-directional vehicles with very little computational burden: Less than 300 floating-point operations; see [7]  ...  Drive mechanism Cornell introduced the omni-directional drive for locomotion in 2000, an innovation which was adopted by most other teams.  ... 
doi:10.1007/0-8176-4404-0_35 fatcat:6uucvckhxjcbbaeyo4lzmrizua

Ego-localization using streetscape image sequences from in-vehicle cameras

Hiroyuki Uchiyama, Daisuke Deguchi, Tomokazu Takahashi, Ichiro Ide, Hiroshi Murase
2009 2009 IEEE Intelligent Vehicles Symposium  
Second, vehicle position is calculated based on triangulation using the positions stored in the database and the viewing directions of the two cameras.  ...  First, the proposed method searches for images similar to the input image from the database.  ...  equipped with an omni-directional camera.  ... 
doi:10.1109/ivs.2009.5164275 fatcat:ik3guljq7fedznqj4uqn7gcsgq

Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system

Yoshiyuki NODA, Junichi NAKAJIMA
2015 Mechanical Engineering Journal  
The effectiveness of the proposed trajectory planning is verified in simulations of an omni-directional mobile vehicle carrying the liquid container.  ...  This paper proposes a trajectory planning method for a transfer system on a two-dimensional (2-D) surface. The 2-D transfer system must ensure safe and rapid transfer of an object.  ...  The effectiveness of the proposed approach was verified in simulations of an omni-directional mobile vehicle carrying a liquid container.  ... 
doi:10.1299/mej.15-00038 fatcat:5hoox6z7tbe3nmlucqfeivisvq

Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

Chengcheng Wang, Xiaofeng Liu, Xianqiang Yang, Fang Hu, Aimin Jiang, Chenguang Yang
2018 Applied Sciences  
This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration.  ...  The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously.  ...  Conclusions This paper considers the trajectory tracking of an omni-directional mobile robot with three fully symmetric distribution mecanum wheels.  ... 
doi:10.3390/app8020231 fatcat:tyq4qjiv6bf5ppwvegm57kvufa

Research on a medium-tracked omni-vehicle

Yuan Fang, Yunan Zhang, Nianyu Li, Yinghui Shang
2020 Mechanical Sciences  
Based on the omnidirectional mobile track and an adapted symmetrical layout, a novel medium-tracked omni-vehicle was designed.  ...  The causes of the trajectory and velocity deviation during the motion of the prototype were analyzed.  ...  We thank LetPub (, last access: 3 April 2020) for its linguistic assistance during the preparation of the manuscript. Financial support.  ... 
doi:10.5194/ms-11-137-2020 fatcat:wt7qijoddjh6bfu6lljax2n7p4

Optimum steering input determination and path-tracking of all-wheel steer vehicles on uneven terrains based on constrained optimization

Arun Kumar Singh, D. Ghose, K. M. Krishna
2012 2012 American Control Conference (ACC)  
The framework computes the steering input which minimizes the tracking error for a given trajectory.  ...  The efficacy of the proposed framework is proved by extensive uneven terrain simulations, for trajectories with continuous or discontinuous velocity profile.  ...  Carefully designed allwheel steer vehicles have omni-directional ability and hence fall in the holonomic vehicles category.  ... 
doi:10.1109/acc.2012.6314770 fatcat:ss7v7d52nngd7dr5wol2xwijyy

Page 1382 of Journal of Spacecraft and Rockets Vol. 7, Issue 12 [page]

1970 Journal of Spacecraft and Rockets  
The Analytical Mechanics Associates’ low-thrust trajectory and vehicle optimization program is an integrating program based on the calculus of variations.  ...  At flight times less than 1000 days, direct trajectories (about } solar revolu- tion) provide the greater net spacecraft masses.  ... 

Modeling position uncertainty of networked autonomous underwater vehicles

Baozhi Chen, Dario Pompili
2015 Ad hoc networks  
Inaccuracies in models for deriving position estimates and the drift caused by ocean currents, however, lead to uncertainty when estimating an AUV's position.  ...  These AUVs generally follow a predictable trajectory specified by the mission requirements.  ...  Compared to QUO VADIS and QUO VADIS-OMNI, QUO VADIS-ND does not wait for the vehicles to move to the optimal configuration, which results in more retransmissions.  ... 
doi:10.1016/j.adhoc.2014.09.003 fatcat:qttb7nymyfhwvgdy7f4hnwwg3y
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