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With the rapid development of e-commerce, warehousing and logistics industry has entered a period of rapid development. New logistics demand is not different from traditional commodity transport, with the features of small batches, variety, high speed and low cost. Flexible warehousing technology based on small mobile handing robots is rising rapidly. The article proposes a flexible warehouse space...
This paper presents a simple yet efficient dynamic path planning algorithm based on biphasic ant colony algorithm with fuzzy control in the environment with some dynamic obstacles. A global optimal path is planned by using the Biphasic ACO (BACO) searching algorithm without consideration of any dynamic obstacles to solve the problem of local optimization. On that basis, the fuzzy control with human...
This paper presents a hierarchical optimal time path planning method which can handle time constraints of the optimal path in complex and dynamic environments. The optimal time path minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle. The path generation problem is divided into three sub-problems. The first is to generate the smooth global path using...
This paper presents an optimal method based on combination of artificial potential field (APF) and ant colony optimization (ACO) algorithms for global path planning of mobile robots working in partially known environments. Two steps constitute this approach. Firstly, free space model of mobile robot is established by using visible graph method and ACO algorithm is utilized in this model to search...
Interestingly in different situations, human not only plans differently for approaching, accompanying, passing by and avoiding another person, but also smoothly maintains an appropriate distance. But for a mobile robot it is not trivial at all, while also maintaining its goal. In this paper we present a generic framework of mobile robot path planning for adapting social rules at different states of...
In this paper, we propose a new algorithm for a mobile robot that avoids obstacles autonomously by using local information. In this algorithm, a robot follows a preplanned path as much as possible, and if it detects an obstacle on or near the path, it autonomously changes its direction and controls speed to avoid the obstacle. These steering angle and control speed are decided by using the relative...
This paper proposes a simulated annealing based approach to determine the optimal or near-optimal path quickly for a mobile robot in dynamic environments with static and dynamic obstacles. The approach uses vertices of the obstacles to define the search space. It processes off-line computation based on known static obstacles, and re-computes the route online if a moving obstacle is detected. The contributions...
Utilizing the advantages of wireless sensor network (WSN), this paper puts forward a novel dynamic obstacle avoidance algorithm used in unknown complex environment, which is a fundamental problem and important research area of mobile robots. In view of moving velocity and direction of both the obstacles and robots, a mathematic model is built based on the exposure model, exposure direction and critical...
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