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dc.contributor.author | Gracia Calandin, Luis Ignacio | es_ES |
dc.contributor.author | Sala, Antonio | es_ES |
dc.contributor.author | Garelli, Fabricio | es_ES |
dc.date.accessioned | 2016-02-09T10:54:18Z | |
dc.date.available | 2016-02-09T10:54:18Z | |
dc.date.issued | 2012-06 | |
dc.identifier.issn | 0921-8890 | |
dc.identifier.uri | http://hdl.handle.net/10251/60730 | |
dc.description.abstract | This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations. | es_ES |
dc.description.sponsorship | This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research project PAID-05-11-2640 of the Technical University of Valencia (Spain), and the Argentinian Government (UNLP 11I127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535). | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation.ispartof | Robotics and Autonomous Systems | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Path planning | es_ES |
dc.subject | Sliding mode | es_ES |
dc.subject | Collision avoidance | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | A path conditioning method with trap avoidance | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/j.robot.2012.01.009 | |
dc.relation.projectID | info:eu-repo/grantAgreement/GVA//PROMETEO08%2F2008%2F088/ES/Nuevas Estrategias para el Diseño de Sistemas de Control Multivariable/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/ANPCyT//PICT-2007-00535/AR/Control, Adquisición y Procesamiento de Señales. Aplicaciones en sistemas electrónicos de potencia, generadores eólicos, arreglos de sensores y bioingeniería./ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/CONICET//PIP 112-200801-0/AR/Sistemas conmutados de control. Aplicación a procesos industriales y sistemas de conversión de energía/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/UNLP//11I127/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/UPV//PAID-05-11-2640/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.description.bibliographicCitation | Gracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A path conditioning method with trap avoidance. Robotics and Autonomous Systems. 60(6):862-873. https://doi.org/10.1016/j.robot.2012.01.009 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.robot.2012.01.009 | es_ES |
dc.description.upvformatpinicio | 862 | es_ES |
dc.description.upvformatpfin | 873 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 60 | es_ES |
dc.description.issue | 6 | es_ES |
dc.relation.senia | 233897 | es_ES |
dc.contributor.funder | Universidad Nacional de La Plata, Argentina | es_ES |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |
dc.contributor.funder | Agencia Nacional de Promoción Científica y Tecnológica, Argentina | es_ES |
dc.contributor.funder | Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina | es_ES |
dc.contributor.funder | Universitat Politècnica de València | es_ES |
dc.contributor.funder | Generalitat Valenciana | es_ES |