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Collision free navigation in dynamic environments, where motion of moving obstacles is unknown, still presents a significant challenge. Sampling based algorithms are well known for their simplicity and are widely used in many real time motion planning problems. While many sampling based algorithms for dynamic environments exist, assumptions taken by these algorithms such as known trajectories of moving...
In this paper we presented a planning approach for collision avoidance algorithms in swarms of robots. We used intermediate goal vector formation to avoid congestion of large number of robots trying to maximize their performance measure. We use the RVO2 library which uses the Reciprocal Velocity Obstacles approach for collision avoidance in intelligent swarms. RVO is an excellent collision avoidance...
RRT* is a recent and improved variant of the RRT path finding algorithm. While RRT concentrates on simply finding an initial obstacle-free path, RRT* guarantees eventual convergence to an optimum, collision-free path for any given geometrical environment. On the other hand, the main limitations of RRT* include its slow processing rate and high memory utilization due to the large number of iterations...
The Rapidly Exploring Random Tree Star (RRT∗) is an extension of the Rapidly Exploring Random Tree path finding algorithm. RRT∗ guarantees an optimal, collision free path solution but is limited by slow convergence rates and inefficient memory utilization. This paper presents APGD-RRT∗, a variant of RRT∗ which utilizes Artificial Potential Fields to improve RRT∗ performance, providing relatively better...
Detection and Tracking of human being is a very important problem in Computer Vision. Human robot interaction is a very essential need for service robots where robots are required to detect and track human beings in order to provide the required service. In this paper we present an improved novel approach for tracking a target person in crowded environment. We used multi-sensor data fusion approach...
Human-robot interaction is one of the most basic requirements for service robots. In order to provide the desired service, these robots are required to detect and track human beings in the environment. This paper presents a novel approach for classifying a target person in a crowded environment. The system used the approaches for human detection and following by implementing the multi-sensor data...
Recently proposed Rapidly Exploring Random Tree Star (RRT*) algorithm which is an extension of Rapidly Exploring Random Tree (RRT) provides collision free asymptotically optimal path regardless of obstacle's geometry in a given environment. However, the drawback of this technique is a slow processing rate. This paper presents our proposed Potential Guided Directional-RRT* which addresses this problem...
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