Concurrent Design of Path Planning Methods and Input Shaping for Flexible Mobile Robots

• Main Author: Eaglin, Gerald
• Language: EN
• Published: University of Louisiana at Lafayette 2019
• Subjects: Mechanical engineering|Robotics
• Online Access: http://pqdtopen.proquest.com/#viewpdf?dispub=10842690

<p> Path planning is a common research topic and has applications in various fields and industries, such as AI, industrial automation, and mobile robotics. When applied to mobile systems, path planning algorithms are required to plan safe and feasible paths for a system from an initial state to a desired final state. While most path planning algorithms have been designed for rigid systems, little work has focused on path planning algorithms for flexible systems. Motion planning for flexible systems has typically involved sequential methods that plan trajectories for a system, then apply vibration control techniques for trajectory tracking. This thesis proposes new algorithms that concurrently plan a path for a flexible system while limiting the induced vibration. </p><p>