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12. Path planning of robot using modified dijkstra Algorithm

Author

Ram kumar P, Julius Fusic S, HARIHARAN K, and Given Names Deactivated Family Name Deactivated

Subjects
Reduction (complexity), Computer science, Path (graph theory), Real-time computing, Robot, Mobile robot, Power engineering, Motion planning, computer.software_genre, Dijkstra's algorithm, computer, Simulation software
Abstract

The robot path planning and trajectory planning were studied and explored for many generations using algorithms. These studies explain to find most efficient path throughout the selected environment is really complicated. In this paper, different environments were created and the modified parameters in Dijkstra algorithm were implemented in a robot for finding an appropriate path for reaching the destination. The mobile robot model was developed using V-REP open-source simulation software and implemented the Dijkstra algorithm for identifying the sub-optimal and collision-free path. The simulated results were showing that the reduction method was effective in terms of time and velocity in the created environments for robot path planning

Published
2018

17. Constant off-Time Digital Current-Mode Controlled Boost Converters With Enhanced Stability Boundary.

Author

Hariharan, K., Kapat, Santanu, and Mukhopadhyay, Siddhartha

Subjects
*HIGH voltages, *VOLTAGE control, *LOGIC circuits, *STABILITY criterion, *ELECTRIC potential
Abstract

The right-half-plane (RHP) zero in a continuous conduction mode boost converter results in a significantly restricted closed-loop bandwidth (BW) for higher voltage gain and/or load current conditions. A compensating ramp is used for current-mode control (CMC), and a higher ramp slope degrades the BW. Variable-frequency digital CMC offers inherent current-loop stability and real-time tuning scope for higher closed-loop BW. However, the challenges are to select the sampling frequency and sampling instant of the output voltage with discontinuous ripple due to the effective series resistance of the output capacitor, and its impact on stability. This paper shows that an event-based current-mode constant off-time digital modulator achieves superior stability and performance in a boost converter along with the reduced RHP zero effect over other digital CMC techniques. Using a discrete-time framework, the fast-scale stability conditions and small-signal models are analytically derived for various digital CMC techniques, which are validated using SIMPLIS simulation. A boost converter prototype is tested, and the analytical predictions are verified experimentally. Further, the analysis is extended to a non-inverting buck–boost converter. [ABSTRACT FROM AUTHOR]

Published
2019
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25. Constant on/off-Time Hybrid Modulation in Digital Current-Mode Control Using Event-Based Sampling.

Author

Hariharan, K., Kapat, Santanu, and Mukhopadhyay, Siddhartha

Subjects
*CASCADE converters, *DIGITAL modulation
Abstract

Ripple-based constant on-time and off-time control techniques can achieve fast step-down and step-up transient performance along with an improved light-load efficiency. However, they suffer from varying switching frequency at the steady state and often require a phase-locked loop for frequency regulation. This paper proposes a constant on/off-time hybrid modulation technique in a digitally current-mode controlled synchronous buck converter. The proposed technique considers an event-based sampling mechanism using one sample per switching cycle, which makes it useful for high-frequency implementation. This requires a monoshot timer and a digital voltage controller $G_c(z)$. The proposed technique can be configured to a constant on-time or off-time modulator with seamless transition because of sharing $G_c(z)$ ; thus, improved step-up/down transient performance can be retained. Furthermore, a discrete-time framework is proposed for fast-scale stability analysis, and the effects of finite sampling and practical parasitics are discussed. Discrete-time small-signal models are derived for the direct digital control design with enhanced stability and performance. A frequency adaptation method is discussed to customize the switching frequency in real time. A buck converter prototype is tested, and the usefulness of the proposed modulation technique is verified experimentally. [ABSTRACT FROM AUTHOR]

Published
2019
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