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This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined...
A new approach called dynamic programming field for modeling the robot environments is presented and it's beneficial to the path planning. The dynamic programming field, which is approximated by Neuro-Dynamic Programming, records environmental information through a neural network and can be used to compute the approximate optimal cost between any two points. Based on the dynamic programming field,...
This paper proposes a hunting control approach for multiple mobile robots with local sensing. Predator Robot (PR) requires the sensing information and makes decision without communication with other PRs. The cooperation may emerge by local interactions among the robots. The invader (IR) is given the intelligent ability to escape. Experiments results show the validity of the proposed approach.
More and more robot tasks extend to unknown environments. Extraction of the topological map from the robot exploration results of an unknown environment is of great importance for the completion of robot path-planning tasks. In this research, a robot explores the environment and builds a grid map in the simulation experiments; the building of topological map based on the features of the grid map is...
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