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In applications of the navigation and control of unmanned ground vehicles in a cross-country environment and tele-driving a rover on the unknown lunar surface for scientific exploration, human-computer interactive path planning and planned path tracking is a significant way of teleoperation. In this paper, we use the method based on Rapidly-Exploring Random Trees (RRTs) to solve the robot path planning...
During the past decade, Rapidly-exploring Random Tree (RRT) and its variants are shown to be powerful sampling based single query path planning approaches for robots in high-dimensional configuration space. However, the performance of such tree-based planners that rely on uniform sampling strategy degrades significantly when narrow passages are contained in the configuration space. Given the assumption...
This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion...
This paper presents a novel planner for manipulators and robots in changing environments. When environments are complicated, it's always difficult to find a completely valid path solution, which is essential for many methods. However, our planner searches for several path segments to make robot move towards its goal as much as possible even though such a complete solution doesn't exist currently....
Planning manipulation path for virtual human arm takes an important role in such areas as computer animation and virtual maintenance engineering. The problem is usually defined to find a feasible non-collision path to connect initial configuration and goal configuration in joint configuration space. Since users are more concerned about the position and orientation of end-effector for reaching and...
Path planning for robots with many degrees of freedom (dof) receives continuous interest in both robotics and computer graphics communities. A variety of random sampling-based methods have been proposed to solve the path planning problems in high-dimensional configuration space, including Probabilistic Roadmap Method (PRM) and Rapidly-exploring Random Trees (RRTs). However, the efficiency will be...
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