A5054880548- Robotic Path Planning Algorithms
- Control and Dynamics of Mobile Robots
- Prosthetics and Rehabilitation Robotics
- Advanced Manufacturing and Logistics Optimization
- Robotics and Sensor-Based Localization
- Soft Robotics and Applications
- Vehicle License Plate Recognition
- Robotic Locomotion and Control
- Optimization and Search Problems
East China Jiaotong University
2023-2024
In the field of AGV, a path planning algorithm is always heated area. However, traditional algorithms have many disadvantages. To solve these problems, this paper proposes fusion that combines kinematical constraint A* and following dynamic window approach algorithm. The can plan global path. Firstly, node optimization reduce number child nodes. Secondly, improving heuristic function increase efficiency planning. Thirdly, secondary redundancy redundant Finally, B spline curve make conform to...
This paper presents a fusion algorithm based on the enhanced RRT* TEB algorithm. The is utilized for generating an optimal global path. Firstly, proposing adaptive sampling function and extending node bias to accelerate path generation mitigate local optimality. Secondly, eliminating redundancy minimize length. Thirdly, imposing constraints turning angle of enhance smoothness. Conducting kinematic modeling mobile robot optimizing align trajectory with robot's kinematics. integration these...
Considering the influence of actual compliant grounds on stable walking underactuated robot, a prototype planar biped robot is designed in this paper, and simulation experiment are carried out. Firstly, model established, ground equivalent to spring-damping system. An adaptive feedforward control strategy adopted realize by controlling robot's centroid velocity. Then, according strategy, 600mm high, 5.62kg weight was produced, including mechanical structure software Finally, with step size...