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We present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of...
We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations.
We present a sliding mode based strategy for navigation of a unicycle-like robot to the target through a dynamic environment cluttered with moving and deforming obstacles. The proposed strategy is based on properly switching between moves to the target in straight lines and sliding-mode based bypasses of enroute obstacles via patrolling their borders at a pre-specified distance. The convergence and...
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