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Mission of a rescue robot is to search for some certain points and find trapped people or valuables to be rescued in an unknown terrain. A rescue robot should be able to be navigated to multiple goals. In this paper, a multi-goal navigation and mapping solution is found by simulated annealing (SA) based multi-goal navigation integrated a local navigator. The robot is guided by SA-based multi-goal...
A novel biologically-motivated neural networks approach associated with developed vector-driven autonomous robot navigation is proposed in this paper. The biologically-motivated neural networks (BNN) algorithm is employed to guide an autonomous robot to reach goal with obstacle avoidance motivated by Grossberg's model for a biological neural system. As the robot plans its trajectory toward the goal,...
Cooperative exploration in unknown environments is fundamentally important in robotics, where the realtime path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this paper, a PSO-based approach, combined with a fuzzy obstacle avoidance module, is proposed for cooperative robots to accomplish the target searching tasks in unknown environments. The proposed...
To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control...
In this paper, a novel framework is proposed to incorporate task assignment, path planning, and tracking control of a multi-robot system. The dynamic task assignment of multi-robots is achieved using a self-organizing map based feature. The real-time collision-free robot path is generated from a neuro-dynamics network through sensor measurement and responding immediately to dynamic elements in the...
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...
In this paper, a novel algorithm based on sensory information is developed to address the problem of goal unreachable with large obstacles (GUWLO) found in fuzzy logic-based navigation algorithms for mobile robots. The GUWLO problem occurs when the absolute value of the target angle is large and the directions to the left (or right) are completely blocked. This is alleviated by interpolating a temporary...
In this paper, a layered goal-oriented motion planning strategy using fuzzy logic is developed for a mobile robot navigating in an unknown environment. Information about the global goal and long-range sensory data are used by the first layer of the planner to produce an intermediate goal, referred to as the way-point that gives an optimal direction in terms of seeking the goal within the detected...
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