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This paper proposes a novel curve smoothing method for path planners with curvature constraint in which the positions of the nodes from the planner are updated. For a smooth trajectory, we adopt Bezier curve where the optimal positions of its control points are found in order to satisfy curvature constraint. These curves are calculated in a piece-wise manner and connected to obtain the whole path...
The problem of having a multi-agent nonholonomic systems achieve a desired mission in a multi-threat prone environment is addressed in this paper. In such hostile environment, the ability to reach a target, keep formation and evade a threat is crucial. This paper proposes a behavioral control algorithm that makes the multi-agent system operates by switching through different navigation algorithms...
This work details Visio and path following control system of a non-holonomic Two-Wheeled Mobile Robot. We present a control algorithm based on two control blocs. A speed inner loop regulation is first studied based on state feedback theorem to ensure stability of the structure. A second outer loop regulation is proposed to enable the robot navigate along a desired destination presented as a set of...
ESA has been developing on-board Guidance, Navigation, and Control technologies for characterization, sample-return, and deflection missions to asteroids and comets (Rosetta, Don-Quijote, Marco-Polo, AIM). GNC systems have been prototyped for all mission phases, from early detection until landing. The GNC technologies are based on vision-based navigation hybridized with other sensors. This paper provides...
Alternative routes have found many applications in navigation scenarios. However, alternative routes have only been introduced recently for the indoor space due to the complexity of these environments. Furthermore, the number of alternative routes in buildings can be quite high. With this paper, we propose to organize sets of alternative routes by employing archetypal analysis on a feature space representation...
There has been an increasing interest in the development of unmanned surface vehicles (USVs) in recent decades. As USVs are required to carry out complex missions without any human intervention in various environments, an intelligent path planning algorithm is critical. A path planning algorithm is able to utilise environment data to calculate an optimal trajectory to guarantee safety. To achieve...
Conventional guidance algorithms for exo-atmospheric missile interception, such as Proportional Navigation, provide guidance laws that are derived from conceptual heuristics where certain simplifications have to be made. Typically, these guidance laws have the disadvantage of not being able to fully take into account system and/or vehicle limitations such as maximum thrust. In this paper, optimal...
A multi-agent system is considered that is tasked with the objective of approaching a predetermined target from a desired region to minimize detection, and then simultaneously converging at the target. Only a subset of agents is informed of the bearing to the target and the desired common arrival time; other agents only rely on local communication with neighboring agents for coordination. A balanced...
A necessary attribute of a mobile robot planning algorithm is the ability to accurately predict the consequences of robot actions to make informed decisions about where and how to drive. It is also important that such methods are efficient, as onboard computational resources are typically limited and fast planning rates are often required. In this article, we present several practical mobile robot...
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers detection (IPaBD), is proposed to create a 2D global map from the 3D images. This map is basic to design the trajectory. A tracking controller is developed to control...
This paper proposes an integrated terrain following algorithm for Unmanned Combat Aerial Vehicle (UCAV). Terrain following is very important for UCAV because UCAV should fly close to ground to avoid being detected by enemy's radar, which may improve the survivability of UCAV performing dangerous mission such as SEAD. In this study, input/output structure is defined for each algorithm for combining...
A new guidance algorithm based on a predictor-corrector approach is presented. The algorithm was designed for the re-entry guidance of the axisymmetric hypersonic vehicle. For this purpose, the angle-of-attack was considered to be the only input. We cast the re-entry guidance problem as a constrained optimization problem, then translated the constrained optimization problem into an unconstrained optimization...
In this paper, an algorithm for the reconstruction of an outdoor environment using a mobile robot is presented. The focus of this algorithm is making the mapping process efficient by capturing the greatest amount of information on every scan, ensuring at the same time that the overall quality of the resulting 3D model of the environment complies with the specified standards. With respect to existing...
This paper describes a simple online target point generator algorithm that allows for minimal specification of Autonomous Underwater Vehicle (AUV) missions. The mission pattern is specified through the spatial coordinates of its corners only, requiring minimal mission information storage in order to execute a mission. To follow the mission path the algorithm generates intermediate target points along...
Motion and path-planning algorithms often use complex cost functions for both global navigation and local smoothing of trajectories. Obtaining good results typically requires carefully hand-engineering the trade-offs between different terms in the cost function. In practice, it is often much easier to demonstrate a few good trajectories. In this paper, we describe an efficient algorithm which - when...
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