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Implementation of a frequency FIR filter as 2D-FIR filter based on FPGA 基于FPGA的频率FIR滤波器2D-FIR滤波器的实现
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270745
A. Fakharian, Saeed Badr, M. Abdi
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引用次数: 1
Optimal trajectory planning for an omni-directional mobile robot with static obstacles: a polynomial based approach 具有静态障碍物的全向移动机器人的最优轨迹规划:基于多项式的方法
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270732
N. Mohseni, A. Fakharian
{"title":"Optimal trajectory planning for an omni-directional mobile robot with static obstacles: a polynomial based approach","authors":"N. Mohseni, A. Fakharian","doi":"10.1109/RIOS.2015.7270732","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270732","url":null,"abstract":"This paper presents a polynomial based optimal trajectory planning for an omni-directional mobile robot in presence of static obstacles with considering a limitation on velocity and acceleration of the robot. First, optimal trajectory planning problem is formulated as an optimal control problem which minimize a cost function of states and control efforts respect to constraints of the problem. To solve this optimal control problem, a state parameterization method is used. In fact, state variables of system are approximated by polynomial functions of time with unknown coefficients. Thus optimal control problem converts to a constraint optimization problem which is too easier than original optimal control problem. Then the polynomials coefficients are computed such that satisfy all the problem requirements and constraints. Simulation results show effectiveness of the proposed method under different situations.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129837727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
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