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Tham khảo tài liệu 'new developments in robotics, automation and control 2009 part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 84 New Developments in Robotics Automation and Control Morse A. S. 1996 . Supervisory control of families of linear set-point controllers Part 1 exact matching. IEEE Trans. AC 41 10 1413-1431. Murray-Smith Ed. R. Johansen Ed. T. 1997 . Multiple Model Approaches to Modelling and Control Taylor Francis London ISBN 074840595X. Narendra S. Balakrishnan J. 1997 . Adaptive Control Using Multiple Models IEEE Trans. AC 42 2 171-187. Wenk C. Bar-Shalom Y. 1980 . A multiple Model Adaptive Dual Control Algorithm for Stochastic Systems with Unknown Parameters IEEE Trans. AC 25 8 703-710. 4 Block-synchronous harmonic control for scalable trajectory planning Bernard Girau Amine Boumaza Bruno Scherrer Cesar Torres-Huitzil LORIA - INRIA Nancy Grand Est France Polytechnic University of Victoria Mexico 1. Introduction Trajectory planning consists in finding a way to get from a starting position to a goal position while avoiding obstacles within a given environment or navigation space. Harmonic functions may be used as potential fields for trajectory planning Connolly et al. 1990 . Such functions do not have local extrema unlike other potential based methods as in Khatib 1986 so that control algorithms may reduce to locally ascend the potential until they reach a global maximum when obstacles correspond to minima of the potential and goals correspond to maxima. Harmonic control has had some impact on the robotics community Masoud Masoud 2002 Zelek 1998 Alvarez et al. 2003 Feder Slotine 1997 Huber et al. 1996 Kazemi et al. 2005 Sweeney et al. 2003 Wang Chirikjian 2000 . Nevertheless very few hardware implementations have been proposed. They are usually analog therefore they suffer from a very long and complex design process and a lack of flexibility environment size precision . This chapter presents a parallel hardware implementation of this navigation method on reconfigurable digital circuits. Trajectories are estimated after the iterated computation of the harmonic function given .