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Anugrah Kusumo Pamosoaji,Augie Widyotriatmo,Keum-Shik Hong 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
A motion planning algorithm for a nonholonomic vehicle in triangular regions is investigated. The regions are the result of splitting a larger and complex workspace, and are classified into three classes, that are, empty regions, obstacle-inside regions, and goal regions. The vehicle has to achieve a goal configuration from any initial configuration in the workspace. A set of procedures to generate velocity vector fields by utilizing vector potential functions is proposed. The vector fields are categorized as those generated by the edges of regions, obstacles, and goal points. To deal with some constraints, i.e., maximum velocities, a set of parameter-scaling rules is provided. A state-feedback controller for a unicycle vehicle is used to show that the generated motion plan can be tracked by the vehicle. Simulation results showing the motion planning from different initial configuration are presented.
Zheming Cao,Anugrah Kusumo Pamosoaji,Keum-Shik Hong 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
In this paper, we will implement polar polynomial curve (PPC) to produce a continuous-curvature path to guide an unmanned autonomous forklift from an initial to a final position in an unknown environment. Generalized polar polynomials are thus obtained which yields the path for fast motions. Important properties of the polynomials are shown and their use provides a method for computing the best motion consistent with the constraints. The approach is used for a forklift's dynamic model. The simulation result of the approach will be shown.