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Many path planning algorithms have previously been proposed for mobile robots to navigate from a start to a goal location in a given map. These planners generate a path which keeps a safe distance from the obstacles in the map. However, most of the global path planners generate a path with sharp and angular turns which is not desired for robot motion as robots must stop at these turns. A smooth path...
This paper proposes mapping and path planning algorithms for an unknown environment using a communication graph of an unlocalized robotic swarm system. Unlike the previous efforts that used the absolute position information of all the robots, in the proposed algorithms, the unknown environment is described as the communication connectivity graph achieved via a distributed consensus algorithm. Thus,...
The work presented in this paper deals with a navigation problem for wheel mobile robots in unknown environments. Dynamic environments usually contain not only static but also moving obstacles. The environments are completely unknown to the robot; thus, in order to guide the robot along a collisions-free path efficiently to reach the goal position quickly, proximity sensors installed on the robot's...
Autonomous navigation is a basic feature for unmanned vehicle systems. For successful autonomous navigation, safety and mobility should be considered for path planning. For safety, a path should be planned to avoid threat, and for mobility, it should be planned by considering landscape and robot dynamics. This path can be obtained by applying the threat and mobility information to calculate the cost...
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