Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Mechanical Engineering
A Novel Method For Prediction Of Mobile Robot Maneuvering Spaces, Patrick N. Currier, Alfred L. Wicks
A Novel Method For Prediction Of Mobile Robot Maneuvering Spaces, Patrick N. Currier, Alfred L. Wicks
Patrick N. Currier
As the operational uses of mobile robots continue to expand, it becomes useful to be able to predict the admissible maneuvering space to prevent the robot from executing unsafe maneuvers. A novel method is proposed to address this need by using force-moment diagrams to characterize the robot’s maneuvering space in terms of path curvature and curvature rate. Using the proposed superposition techniques, these diagrams can then be transformed in real-time to provide a representation of the permissible maneuvering space while allowing for changes in the robot’s loading and terrain conditions. Simulation results indicate that the technique can be applied to …
Robust Course-Boundary Extraction Algorithms For Autonomous Vehicles, Chris Roman, Charles Reinholtz
Robust Course-Boundary Extraction Algorithms For Autonomous Vehicles, Chris Roman, Charles Reinholtz
Christopher N. Roman
Practical autonomous robotic vehicles require dependable methods for accurately identifying course or roadway boundaries. The authors have developed a method to reliably extract the boundary line using simple dynamic thresholding, noise filtering, and blob removal. This article describes their efforts to apply this procedure in developing an autonomous vehicle.