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This paper presents a one step smooth and efficient path planning algorithm for navigating a large robotic platform in known cluttered environments. The proposed strategy, based on the generation of a novel search space, relies on non-uniform density sampling of the free areas to direct the computational resources to troubled and difficult regions, such as narrow passages, leaving the larger open...
Multiple mobile robot path planning in dynamic unknown environment is challenging. In this paper a novel artificial potential field (APF) based approach is proposed. In this approach, a robot was pulled to the goal position with the influence of the goal and static obstacles. When two or more robots meet at the range of safe distance, those robots was prioritized according to the priority of the task...
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot...
In this paper, a knowledge based genetic algorithm (GA) for on-line path planning of multiple mobile robots in dynamic environments is proposed. The proposed GA uses a unique problem representation method to represent 2D robot environments with complex obstacle layouts and obstacles are allowed to be of arbitrary shapes. Correspondingly, an effective evaluation method is developed specially for the...
The multiple impedance control (MIC) enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. A redundant manipulator exploits more degrees of freedom than those required to achieve the desired position and orientation of the end-effector. In this paper, the MIC law is extended to control cooperative redundant manipulators in the presence of impacts due to...
In this paper, we propose self-organization algorithm of spiking neural network (SNN) applicable to autonomous robot. We also examine the relation between neural dynamics in SNN and the robot behavior. First, we formulated a SNN model whose inputs and outputs were analog. Next, we implemented it into a miniature mobile robot Khepera. In order to see whether or not a solution(s) for the given task(s)...
To solve the problem that a humanoid robot is prone to tip over while walking on uneven ground, this paper presents an online regulating control algorithm based on the Kane collision theory. The algorithm, which introduces a new physical quantity named "generalized speed", can reduce second-order differential equation to first-order ordinary differential equation, and shorten the time of...
This paper introduces a global localization system based on natural landmarks for indoor mobile robots. The proposed approach is based on recognition of natural landmarks from laser scanner data. A previously built grid-based map is pre-processed off-line to obtain a model of landmarks and their attributes for each cell. The robot's position and orientation are calculated by finding correspondence...
A force field (F2) based multi-robot collaboration method is presented in this paper. In this method, a virtual force field is generated for every moving robot and continuously changing based on the robot status including its traveling speed, dimension, priority, location and environment, etc. The interactions among robots' force fields and obstacles provide a natural way for collision avoidance and...
For collision detection between identically scaled convex polyhedral objects (i.e. objects deformed with shape unchanged but size changed), we have presented an accuracy-tunable collision detector based on inner-outer ellipsoidal deformation bounds (S. Liu et al., 2005). This paper explores further the possibility of exact collision detection based only on approximate closest points, in which a special...
This paper presents a formated navigation with obstacle avoidance in which a modified leader-follower technique is combined with reactive collision avoidance behaviors. This paper indicates a couple of problems in which the obstacle avoidance is embedded in formated navigation: one is the singularity of the leader robot on the tracking control and another is the avoidance behavior of the follower...
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