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For on-road autonomous driving, path planner needs to generate a target path which is not only safe and smooth, but also stable under uncertainty propagated from sensing such as localization error and perception error. In this paper, we propose a path planning method which generates a target path in two steps: reference path planning and local path planning. The reference path planner keeps stability...
The proposed concept shows a method of solving emerging path planning conflict situations within a heterogeneous multi-robot system. Emerging conflict situations are solved by a decentralized system-wide communication, which includes an active exchange of relevant path planning information among all participants. Detection and prevention of collisions is based on applying geometrical operations on...
Path planning technology is one of the important problems in intelligent robot. Firstly, based on the characteristics of intelligent mowing robot and traditional circuitous path planning algorithm, a new "p-d" circuitous path planning algorithm was proposed in the rectangular work region, which solves the problem of the best mowing coverage. Then the geographic coordinate system was transformed...
The following paper addresses the problem of applying existing path planning methods targeting rough terrains. Most path planning methods for mobile robots divide the environment in two areas—free and occupied—and restrict the path to lie within the free space. The presented solution addresses the problem of path planning on rough terrains, where the local shape of the environment are used to both...
The objective of this paper is to discuss the control of a swarm of robots using the Particle Swarm Optimization (PSO) technique. The authors present fundamental research being conducted at the Autonomous Vehicle Systems Laboratory located at University of the Incarnate Word in developing biologically inspired robots emulating insect foraging and search behavior. PSO technique is used in order to...
One of essential factors in mission planning for an AUV group is mission running time. This paper addresses decentralized techniques, which can be used in order to minimize mission running time under uncertainty such as a change in the list of group members. The major contribution of this paper is decentralization of a previously developed mathematical model (a “version model”), intended for centralized...
Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted...
Most path planning methods for mobile robots divide the environment in two areas - free and occupied - and restrict the path to lie entirely within the free space. However, the problem of path planning in rough terrain for a field robot, e.g. tracked wheel, is still a challenging problem, for which those methods cannot be directly applied. This paper addresses the problem of path planning on rough...
This paper introduces a manipulator robot surface following algorithm using a 3D model of vehicle body panels acquired by a network of rapid but low resolution RGB-D sensors. The main objective of this work is to scan and dynamically explore regions of interest over an automotive vehicle body under visual guidance by closely following the surface curves and maintaining close proximity to the object...
A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle...
This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called...
This paper briefly discusses about the physical properties of a mobile platform. In recent years, vehicles that move autonomously have received a good deal of attention where the US federal government through its various agencies has been the major sponsor of research in this field. Natural disaster such as earthquake or storm would be extremely dangerous and hazardous for search and rescue operation...
In this paper, we present results of a feasibility study of airport snow shoveling with multiple formations of autonomous snowplow robots. The main idea of the approach is to form temporary coalitions of vehicles, whose size depends on the width of the roads to be cleaned. We propose to divide the problem of snow shoveling into the subproblems of task allocation and motion coordination. For the task...
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
Traditionally, mobile robot design is based on wheels, tracks or legs with their respective advantages and disadvantages. Very few groups have explored designs with spherical morphology. During the past ten years, the number of robots with spherical shape and related studies has substantially increased, and a lot of work is done in this area of mobile robotics. Interest in robots with spherical morphology...
Multiple cooperative vehicles, joined in an acoustic communication network, can perform time-critical, cooperative operations given a robust task allocation mechanism and an efficient path planning model. In this paper, we present solutions for the task-allocation and path-planning problems of the cooperative schema for multiple AUVs: a Location-Aided task Allocation Framework (LAAF) algorithm for...
Articulated steering vehicles (with active joint) are preferable for navigation in narrow environments due to their high maneuverability. In order to achieve closed-loop control of a center-articulated mobile robot, feedback from the goal's position and orientation is needed. In practice, the measurement would be noisy. In this paper, we first investigate a kinematic model for center-articulated mobile...
To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving...
A behavior-based control system for mobile robot with trailer for navigating in constrained and dynamically changing environment in the presence of humans is presented. Constraints and features of such environment and critical situations in maneuvering are highlighted. An example scenario is discussed and shown. Two approaches of robot-trailer control, conventional controller and fuzzy logic based...
A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states...
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