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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...
Vision based observation of a moving target is one of the important problems and hot issues of mobile robot system. Dynamical vision sensors which is constituted with multiple robots to obtain improved observational results has been shown to be a good substitution of single vision sensors. Thus, a new active cooperative observation (ACO) method based on two dynamical vision sensors is proposed. The...
Path planning is a core problem of the mobile robot navigation technology. However, few path plan methods that have been proposed consider the path smoothness and the robot attitude in the path. In this paper, a novel path planning method is proposed which considers three optimizing targets, including the path length, the path smoothness and the distance between the path and the obstacles. Firstly,...
A solution by hybrid algorithms is proposed in this paper for real-time map building and navigation for multiple goals purpose. In real world applications, an intelligent mobile vehicle is required to reach multiple goals with a shortest path that, in this paper, is capable of being implemented in TSP (Traveling Salesman Problem) by a Genetic Algorithm (GA) with minimized overall distance. A D∗-Lite-based...
Optimal point-to-point motion planning of heavy-duty industry robot was critical between two points in the prescribed time. The dynamic modeling was derived though Lagrange formulation and Spong model; then based on the Pontryagin's minimum principle, optimal point-to-point motion planning problem was constructed considering the gravity effect. Indirect method integration with homotopy mapping was...
In this paper, we present a Robot Technology component implementation of the simultaneous path planning and topological mapping algorithm. Firstly, Simultaneous Path Planning and Topological Mapping (SP2ATM) algorithm is applied for robot path planning and environment exploration with map construction incrementally. And at the same time, Rao-Blackwellized Particle Filter (RBPF) is utilized for robot's...
Path planning is a fundamental method in solving mazes or moving robots traversing through open fields with obstacles. Q-learning method is a model-independent reinforcement learning method, which can be utilized in path planning optimization for robots in a multi-robot collaboration system. However, the efficiency of the traditional Q-learning algorithm is relatively low because of the adopted random...
This paper proposes an environment model based on grid, and comes up with a two-layer genetic algorithm mechanism as global parallel optimize searching tool to find optimal path. The first layer is responsible for static obstacles avoidance, while the second layer is responsible for dynamic obstacles avoidance, and these two-layer genetic algorithm mechanism has different fitness functions. Simulation...
In this paper, a novel algorithm to solve multi-robot formation path planning problem is proposed. A combination of the leader-follower and improved poly-clonal artificial immune algorithm is used to derive the formation architecture. The formation of multi-robot is maintained through controlling the distance and angle between leader and followers. Robots reach the desired positions and avoid obstacles...
Online path planning for multi-robots in complicated and dynamic environments is a difficult and hot issue in the field of robotics. Many traditional path planning methods cannot meet the requirements of online and real-time processing. Neuro-dynamics-based method has an aptitude for online and real-time path planning in complicated and dynamic environments. However, this method still has shortcomings...
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