Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...

Modelling and simulation of a rate controlled manipulator ARM

The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750...

Hybrid equations for translational and rotational motion of flexible spacecraft

The report deals with the equations of motion of spacecraft with rigid main body, flexible appendages, and rotors and jets on the main body. The hybrid coordinate modelling method is applied. The resulting equations describe the translational motion of the spacecraft, the rotational motion, and the coupling between these two types of motion. The...