Khalil Alipour | University of Tehran (original) (raw)

Papers by Khalil Alipour

Industrial Robot, 2016

In this research, an efficient method, called Kinodynamic Velocity Obstacle (KidVO), will be prop... more In this research, an efficient method, called Kinodynamic Velocity Obstacle (KidVO), will be proposed for motion planning of omnimobile robots considering kinematic and dynamic constraints (KDCs). The suggested method improves Generalized Velocity Obstacle approach by a systematic selection of proper time horizon. Selection procedure of time horizon is based on kinematical and dynamical restrictions of the robot. Towards this aim, an omnimobile robot with a general geometry is taken into account and the admissible velocity and acceleration cones reflecting KDCs, are derived, respectively. To prove the advantages of the suggested planning method, its performance is compared with Generalized Velocity Obstacles (GVO), the so-called Hamilton-Jacobi-Bellman (HJB), and Rapidly-exploring Random Tree (RRT). The obtained results of the presented scenarios which contain both computer and real-world experiments for complicated crowded environments indicate the merits of the suggested methodology in terms of its near-optimal behavior, successful obstacle avoidance both in static and dynamic environments, and reaching to the goal pose.

Engineering Computations, 2016

International Journal of Robotics and Automation, 2015

Industrial Robot: An International Journal, 2016

Industrial Robot: An International Journal, 2014

Lecture Notes in Computer Science, 2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014

2013 13th Iranian Conference on Fuzzy Systems (IFSC), 2013

ABSTRACT In this paper, we investigate the leader-follower based formation control of nonholonomi... more ABSTRACT In this paper, we investigate the leader-follower based formation control of nonholonomic wheeled mobile robots. To this end, we first derive a dynamics model for the considered wheeled mobile robot using Lagrange's equations of motion. Then, using ADAMS multi body simulation software, the obtained dynamics of the wheeled system is verified. After that, we design a Fuzzy Logic Controller (FLC) for generating and keeping the desired formation. In this regard, the leader mobile robot is controlled to follow a reference path and the follower robots use the FLC to keep constant relative distance and constant angle with respect to the leader. The efficiency of this suggested formation controller has been proved using computer simulations on different situations and desired trajectories.

Volume 5B: 38th Mechanisms and Robotics Conference, 2014

This paper aims at developing a real-time, robust, and reliable navigation method for an omnidire... more This paper aims at developing a real-time, robust, and reliable navigation method for an omnidirectional robot, the so-called MRL-SSL RoboCup robot, can be used in crowded dynamically changing environments. To this end, a local motion planner will be introduced which combining the Generalized Velocity Obstacles (GVO) notion and a heuristic approach for determining the time horizon such that the inevitable collision states can successfully be avoided. The proposed method considers not only the kinematics of the robot but also its dynamics. Moreover, it could be extended to a wide range of practical path planning problems containing uncertainties. Finally, in order to demonstrate the performance and effectiveness of the proposed motion planner for the omnimobile robots, some practical scenarios are simulated.

Sensors and Actuators A: Physical, 2016

2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), 2015

International Journal of Robotics and Automation, 2012

Abstract In the present study, a novel approach is presented for trajectory tracking control of n... more Abstract In the present study, a novel approach is presented for trajectory tracking control of nonholonomic Wheeled Mobile Robots (WMRs). To date, various methodologies have been suggested for solving this control problem. However, the proposed kinematical method of ...

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2010

... Robots Using Fuzzy Logic Mohammad Hadi Amoozgar, Khalil Alipour, Seyed Hossein Sadati, and Mo... more ... Robots Using Fuzzy Logic Mohammad Hadi Amoozgar, Khalil Alipour, Seyed Hossein Sadati, and Mohammad Dehsara Abstract-In the current study, a novel approach is presented for formation control of nonholonomic Wheeled Mobile Robots (WMRs). ...