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Motion planning and control of autonomous robots in a two-dimensional plane

Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito (2012) Motion planning and control of autonomous robots in a two-dimensional plane. [Conference Proceedings]

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    Abstract

    This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. The control laws proposed in this paper also ensures that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a planar (RP) manipulator will be presented.

    Item Type: Conference Proceedings
    Subjects: T Technology > T Technology (General)
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Generic Account
    Date Deposited: 16 May 2013 12:56
    Last Modified: 10 Jan 2017 10:50
    URI: http://repository.usp.ac.fj/id/eprint/5836
    UNSPECIFIED

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