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In order to perform surveying with an autonomous vehicle, a path must often be designed for geometrically complex boundaries, while also accounting for mapped obstacles. In this paper, several algorithms that solve different aspects of the problem are presented. Together, the algorithms generate a path with the following characteristics: (a) it completely covers a field given its respective corner...
A dynamic path generation approach to find an admissible path in totally unknown surroundings is presented. The proposed approach is a method to find a reasonable trajectory in unknown obstacles. This avoidance algorithm is based on the potential field approach, and there are some differences and innovations from those methods because a navigation function to handle considers not only position of...
Optimal path planning is a key problem for the control of autonomous unmanned ground vehicles. Particle swarm optimization has been used to solve the optimal problem in the static environment; however, optimal path planning for UGV groups in a dynamical environment has not been fully discussed. Accordingly, a dynamic obstacle-avoidance path planning for an unmanned ground vehicle group was considered...
The article proposes a feedback control system for real-time navigation and obstacle avoidance that is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has...
A new linear programming obstacle-avoided model is presented in target pursuit and obstacle-avoided problem. The obstacle-avoided model only has the linear program once for obstacle avoidance at one time step. The collision forecasting domain of vehicle and obstacle is obtained, which can prevent the happening of collision between vehicle and obstacle. In the target pursuit problem, the dynamic equation...
In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bezier curves, which meet obstacle avoidance criteria. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. Accelerations...
In this paper we demonstrate a method for obstacle avoidance of heterogeneous unmanned marine vehicle teams. The task is to find a collision free path for a vehicle group moving in close formation through an area with known obstacles, while keeping formation when possible and change formation when necessary. Whenever possible, they shall use their original paths in desired formation, as only this...
Classical motion planners and most of navigation routines discard dynamics of the system and therefore fail in some special conditions. If a robot is moving towards an obstacle with a high acceleration and speed, collision is inevitable because the obstacles are taken into account only either once they are in range, or a physical collision is reported by detection routines. In this paper, we have...
The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration...
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