A New Motion Planning Framework based on the Quantized LQR Method for Autonomous Robots
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2018, Vol 9, Issue 1
Abstract
This study addresses an argument on the disconnection between the computational side of the robot navigation problem with the control problem including concerns on stability. We aim to constitute a framework that includes a novel approach of using quantizers for occupancy grids and vehicle control systems concurrently. This representation allows stability concerned with the navigation structure through input and output quantizers in the framework. We have given the theoretical proofs of qLQR in the sense of Lyapunov stability alongside with the implementation details. The experimental results demonstrate the effectiveness of the qLQR controller and quantizers in the framework with realtime data and offline simulations.
Authors and Affiliations
Onur Sencan, Hakan Temeltas
Keywords
Related Articles
- EP ID EP261638
- DOI 10.14569/IJACSA.2018.090150
- Views 100
- Downloads 0
Automated Detection Method for Clustered Microcalcification in Mammogram Image Based on Statistical Textural Features
Breast cancer is the most frightening cancer for women in the world. The current problem that closely related with this issue is how to deal with small calcification part inside the breast called micro calcification (MC)...
Memetic Multi-Objective Particle Swarm Optimization-Based Energy-Aware Virtual Network Embedding
In cloud infrastructure, accommodating multiple virtual networks on a single physical network reduces power consumed by physical resources and minimizes cost of operating cloud data centers. However, mapping multiple vir...
The Informative Vector Selection in Active Learning using Divisive Analysis
Traditional supervised machine learning techniques require training on large volumes of data to acquire efficiency and accuracy. As opposed to traditional systems Active Learning systems minimizes the size of training da...
Dominating Sets and Spanning Tree based Clustering Algorithms for Mobile Ad hoc Networks
The infrastructure less and dynamic nature of mobile ad hoc networks (MANET) needs efficient clustering algorithms to improve network management and to design hierarchical routing protocols. Clustering algorithms in mob...
WhatsApp as an Educational Support Tool in a Saudi University
WhatsApp is a widely used social media app, growing in popularity across the Middle East, and the most popular in Saudi Arabia. In this paper, we investigate the usage of WhatsApp as an educational support tool in a Saud...