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Path planning of a mobile robot under dynamic environment is a difficult part of robot navigation. In this paper, a new path planning method based on improved Q-learning (IQL) algorithm and some heuristic searching strategies is proposed for mobile robot in dynamic environment. A new exploration strategy which combines ε-greedy exploration with Boltzmann exploration is used in IQL. In addition, the...
This paper presents a novel motion planning method, based on heuristic dynamic programming (HDP), applicable to the control of wheeled mobile robots (WMRs). First, a new architecture of motion planning system is proposed, where the motion planner is designed based on the HDP algorithm. Second, we devise a reward function, which is beneficial for improving the planning efficiency. Then, back propagation...
This paper addresses the problem of autonomous tracking a set of ground static targets using minimal fixed wing unmanned aerial vehicles(UAVs). Each target is tracked loosely and has its desired revisit interval. Due to the UAV's dynamic constrains of fixed wing, it is modeled as a Dubins car. The motion planing of UAVs is a NP hard problem to find the shortest path, i.e. Dubins path. Because of the...
In this paper 1, a motion library and associated control strategies for collision-free motion planning are presented for a biomimetic robotic fish. The Anguilliform robotic fish consists of N links and N − 1 joints. Three major gaits of Anguilliform fish—forward moving, backward moving and turning—are investigated. By giving different reference to joint angles, such as adding reversed phase difference,...
In this paper, we use design planning method to partition a flat design based on SAED 90 nm process technology into blocks and created interface logic models (ILMs) for each blocks. Using the hierarchical design including ILM, the runtime of the place optimization stage, clock optimization stage and route optimization stage is reduced to 28.8%, 27.7% and 43% relatively, meanwhile the boundary timing...
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...
A path planning method of mobile robot based on rolling windows is proposed in this paper. Actually rolling path planning has high speed and high efficiency. But this method still has local dead region in the process of planning. For the problem, a method of path planning of rolling windows based on map memory and analysis is proposed. The problem of local dead region was resolved validly.
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