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This paper presents the application of genetic algorithm (ga) and ant colony optimization (ACO) algorithm for robot path planning (RPP) in global static environment. Both algorithms were applied within global maps that consist of different number of free space nodes. These nodes generally represent the free space extracted from the robot map. Performances between both algorithms were compared and...
This article introduces the development of a fast 3D active vision system, and a new concept based on space decomposition into virtual planes to support 3D real time obstacle detection during the navigation mission of autonomous mobile robots. This system uses the richness and the strength of the vision while reducing the data load, and computational cost by encoding coarsely the working space using...
This project aims to apply image processing techniques in computer vision featuring an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with...
Path planning together with the tuning and determination of controller parameters are major concerns in omnidirectional mobile robots. Defining appropriate controller parameters in acceleration and deceleration to reach far and near target points without slippage is one of critical issues since some troubles due to unregulated velocities may greatly affect the ability of robot for the specified path...
In this paper, the new path planning algorithm for vertical take-off and landing (VTOL) type unmanned aerial vehicles (UAVs), which is widely used in various practical applications, is introduced. The essence of the algorithm comes from the existing limit cycle navigation method for works in 2D and 3D, respectively. In addition, the ray tracing method is applied in order to enhance the work in 3D...
This paper presents a path planning strategy for a mobile robot. The path planning strategy is according to the experience that the mobile robot has been experienced in target navigation. The mixed reality technique is implemented by both the virtools tool and mobile robot. There are three basic interactive behaviors of human beings which have been implemented on this proposed mobile robot. They are...
First order saddle points have important applications in different fields of science and engineering. Some of their interesting applications include estimation of chemical reaction rate, image segmentation, path-planning and robotics navigation. Finding such points using evolutionary algorithms is a field that remains yet to be well investigated. In this paper, we present an evolutionary algorithm...
In this paper, we present an obstacle avoiding smooth path planning method based on Voronoi diagram and composite Bezier curve algorithm which obtains the curvature bounded path with small length. In our algorithm, a Voronoi diagram is constructed according to the global environment. The piecewise linear rough path in the Voronoi diagram which keeps away from the obstacles is obtained by performing...
A cell occupancy map has been used widely for efficiently representing obstacles in robotic navigation. Such a map can often be formed based on the multi-resolution octree representation (MOR) of 3D point clouds captured from objects and workspace. This elevated cell-based approach may offer the capability of understanding the geometric context of workspace, expanding its applicability to robotic...
Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents...
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