The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning...The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning and the solving of inverse kinematic equations was presented. First, the probabilistie planning method was used to determine the guide configurations; then the switching objective function was defined and the path of the end-effector was constructed based on these guide configurations ; finally, the inverse kinematic equations of the WMM were solved using the gradient projection method, and the obstacle avoidance trajectory for joints of the WMM was obtained. Simulation results were given to demonstrate the effectiveness of the proposed method.展开更多
This paper presents the framework of probabilistic power system planning.The basic concepts,criteria,procedure,analysis techniques and tasks of probabilistic power system planning are discussed.Probabilistic reliabili...This paper presents the framework of probabilistic power system planning.The basic concepts,criteria,procedure,analysis techniques and tasks of probabilistic power system planning are discussed.Probabilistic reliability evaluation and probabilistic economic assessment are two key steps.It should also be recognized that probabilistic system planning has a wider coverage than these two aspects.An actual example using a utility system is given to demonstrate an application of probabilistic transmission development planning.展开更多
基金the National Natural Science Foundation of China(Grant No.60675051)the Scientific Research Foundation of Heilongjiang Province for the Feeturned Overseas Chinese Scholars
文摘The cooperative motion planning of nonholonomic wheeled mobile manipulators （WMM） with kinematic redundaney in the constrained workspace was studied. A trajectory planning method combining the probabilistic planning and the solving of inverse kinematic equations was presented. First, the probabilistie planning method was used to determine the guide configurations; then the switching objective function was defined and the path of the end-effector was constructed based on these guide configurations ; finally, the inverse kinematic equations of the WMM were solved using the gradient projection method, and the obstacle avoidance trajectory for joints of the WMM was obtained. Simulation results were given to demonstrate the effectiveness of the proposed method.
基金supported in part by the National 111 Project of China(B08036).
文摘This paper presents the framework of probabilistic power system planning.The basic concepts,criteria,procedure,analysis techniques and tasks of probabilistic power system planning are discussed.Probabilistic reliability evaluation and probabilistic economic assessment are two key steps.It should also be recognized that probabilistic system planning has a wider coverage than these two aspects.An actual example using a utility system is given to demonstrate an application of probabilistic transmission development planning.
