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  • 1
    Electronic Resource
    Electronic Resource
    Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments (1994)
    Springer
    Journal of intelligent and robotic systems 11 (1994), S. 223-267 
    Details
    ISSN: 1573-0409
    Keywords: Mobile robots ; motion planning ; collision avoidance ; moving obstacles
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract An optimal control formulation of the problem of collision avoidance of mobile robots moving in terrains containingmoving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. Two solutions are obtained: (1) A numerical solution of the optimization problem and a perturbation type of control to update the optimal plan and (2) A computationally efficient method giving near optimal solutions. Simulation results verify the value of the proposed strategies and allow for comparisons.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01254013
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Approximate Solutions to the Time-Invariant Hamilton–Jacobi–Bellman Equation (1998)
    Springer
    Journal of optimization theory and applications 96 (1998), S. 589-626 
    Details
    ISSN: 1573-2878
    Keywords: Nonlinear control ; optimal control ; Hamilton–Jacobi–Bellman equation ; feedback synthesis ; successive approximation ; Galerkin approximation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract In this paper, we develop a new method to approximate the solution to the Hamilton–Jacobi–Bellman (HJB) equation which arises in optimal control when the plant is modeled by nonlinear dynamics. The approximation is comprised of two steps. First, successive approximation is used to reduce the HJB equation to a sequence of linear partial differential equations. These equations are then approximated via the Galerkin spectral method. The resulting algorithm has several important advantages over previously reported methods. Namely, the resulting control is in feedback form and its associated region of attraction is well defined. In addition, all computations are performed off-line and the control can be made arbitrarily close to optimal. Accordingly, this paper presents a new tool for designing nonlinear control systems that adhere to a prescribed integral performance criterion.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022664528457
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  • 3
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    Approximate Solutions to the Time-Invariant Hamilton–Jacobi–Bellman Equation (1998)
    Springer
    Details
    Publication Date: 1998-03-01
    Print ISSN: 0022-3239
    Electronic ISSN: 1573-2878
    Topics: Mathematics
    Published by Springer
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    PAPER CURRENT
  • 4
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    Design of suboptimal regulators for nonlinear systems (1985)
    In:  Other Sources
    Details
    Publication Date: 2011-08-19
    Description: An optimal feedback control law is preferred for the regulation of a deterministic nonlinear system. In this paper, a practical, iterative design method leading to a sequence of suboptimal control laws with successively improved performance is presented. The design method requires the determination of an upper bound to the performance of each successive control law. This is obtained by solving a partial differential inequality by means of a linear programming technique. Robustness properties and the application of the design method to the control of a robot manipulator arm are also presented.
    Keywords: CYBERNETICS
    Format: text
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    NASA TECHNICAL REPORTS
  • 5
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    Intelligence control systems (1980)
    In:  Other Sources
    Details
    Publication Date: 2011-08-18
    Description: The evolution of ideas of intelligent controls and their application to high level man machine interactive systems like general purpose manipulators, industrial robots, prosthetic devices for amputees, and orthotic devices for paralyzed persons are discussed. Some case studies are presented to demonstrate the feasibility of the approach.
    Keywords: SYSTEMS ANALYSIS
    Type: NASA. Langley Research Center Automated Decision Making and Probl. Solving. Vol. 2; p 39-76
    Format: text
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  • 6
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    Software and hardware for intelligent robots (1987)
    In:  CASI
    Details
    Publication Date: 2017-10-02
    Description: Various architectures and their respective software for Hierarchically Intelligent Robots are discussed. They conform to the Principle of Increasing Precision with Decreasing Intelligence by following a three-level structure. The architecture of the organization and coordination levels is presented here and their algorithms are outlined.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 1; p 241-249
    Format: application/pdf
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  • 7
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    A computer architecture for intelligent machines (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The Theory of Intelligent Machines proposes a hierarchical organization for the functions of an autonomous robot based on the Principle of Increasing Precision With Decreasing Intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed in recent years. A computer architecture that implements the lower two levels of the intelligent machine is presented. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Details of Execution Level controllers for motion and vision systems are addressed, as well as the Petri net transducer software used to implement Coordination Level functions. Extensions to UNIX and VxWorks operating systems which enable the development of a heterogeneous, distributed application are described. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.
    Keywords: COMPUTER OPERATIONS AND HARDWARE
    Type: NASA-CR-191861 , NAS 1.26:191861 , RPI-CIRSSE-108
    Format: application/pdf
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  • 8
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    Distance estimation and collision prediction for on-line robotic motion planning (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.
    Keywords: CYBERNETICS
    Type: NASA-CR-192737 , NAS 1.26:192737 , RPI-CIRSSE-25
    Format: application/pdf
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  • 9
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    An optimal control strategy for collision avoidance of mobile robots in non-stationary environments (1991)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.
    Keywords: CYBERNETICS
    Type: NASA-CR-191868 , NAS 1.26:191868 , RPI-CIRSSE-83
    Format: application/pdf
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  • 10
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    A computational method for the optimal control problem with bounded state variables. (1966)
    In:  Other Sources
    Details
    Publication Date: 2019-06-27
    Description: Computational method for optimization of infinite time control problem for linear systems and quadratic indexes of performance
    Keywords: ELECTRONICS
    Format: text
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