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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...
In this paper, we propose deliberative upper-level behavior planning method for UGV with actively articulated suspension to negotiate geometric obstacle. Proposed deliberative planning method used Q-learning with the expert model for negotiating specific obstacle type. We modify the centipede locomotion pattern to the suspensions' locomotion and define the MDP using it. In 2D space, we define the...
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 behavior control method was usually adapted for controlling the suspension configuration which determines the traversability of the UGV with actively articulated suspension. In this paper, we proposed a method of configuration planning of the suspension without any detail geometric data of terrain. The terrain was estimated by the traces of each wheel and the behavior plans for the desired upper...
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