The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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 presents a new real-time path planning algorithm in dynamic uncertainty environment, and it has well real-time and high applicability. This algorithm is composed by two parts. The first part is the analysis and interpretation of the environment information by searching the characteristic information (double safe edges DSE), so the algorithm can catch the dynamic obstacle and estimate the...
The concept of robot swarm has demonstrated its relevance in many safety critical applications as a cost-effective solution providing natural fault-tolerance by large number of mutually replacing agents. A critical factor to the swarm functionality is the high complexity of intra swarm coordination.We propose a fully distributed coordination algorithm that uses parameters like bidding distance and...
A collective construction task require a multi-robot system to search for randomly distributed building blocks and push those blocks to some predefined locations. To address this problem, a bio-inspired swarm intelligence based algorithm is proposed for a distributed multi-robot system to combine explorative searching and dynamic task allocation together for collective construction. Basically, a virtual...
This paper describes a visual odometry algorithm for estimating frame-to-frame camera motion from successive stereo image pairs. The algorithm differs from most visual odometry algorithms in two key respects: (1) it makes no prior assumptions about camera motion, and (2) it operates on dense disparity images computed by a separate stereo algorithm. This algorithm has been tested on many platforms,...
A new technique for computing the minimum translational distance between two moving objects with rotational motions is presented in this paper. Separation or penetration distance is computed with no space and time discretization for constant-speed motions. Motions are constrained to two degrees of freedom. Objects and their motions are modeled by 3D spherically-extended polytopes. The distance-computation...
The Rapidly Exploring Random Tree (RRT) algorithm can be applied to the robotic path planning problem and performs well in challenging, dynamic domains. Traditional RRT methods use a binary cost function and they select portions of the tree for expansion based on the Euclidean distance to the target. However, in outdoor navigation, the relative cost of terrain can also provide useful input to a planning...
A major issue in the field of mobile robotics today is the detection and tracking of moving objects (DATMO) from a moving observer. In dynamic and highly populated environments, this problem presents a complex and computationally demanding task. It can be divided in sub-problems such as robotpsilas relative motion compensation, feature extraction, measurement clustering, data association and targetspsila...
This paper presents an efficient algorithm for real-time mobile robots path planning in dynamic environment. It focuses on the dynamic workspace in which the target and obstacles are moving while the boundary is stationary. The proposed algorithm improves distance-propagating system and introduces chaotic control and prediction. So it can predict the motion of target effectively and enhance the accuracy...
This paper proposes an efficient dynamic localization algorithm in the active beacon sensor space for the precise localization of a mobile robot. The design and implementation of the localization system is based on the use of active beacon systems, each of which is composed of an RFID receiver and an ultrasonic transmitter. The RFID receiver obtains the synchronization signal from the mobile robot...
Path planning of air robot is a complicated global optimum problem. Intelligent water drops (IWD) algorithm is newly presented under the inspiration of the dynamic of river systems and the actions that water drops do in the rivers, and it is easy to combine with other methods in optimization. In this paper, we propose an improved IWD optimization algorithm for solving the air robot path planning problems...
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...
This paper describes a complete laser-based approach for self-localization of mobile robots. The presented algorithm is a novel variant of the classic Iterative Dual Correspondence Method (IDC). Our scan matching method improves results of this popular algorithm in dynamic environments, due to the changed elements between two consecutive scans acquired by the robot are detected and removed of the...
The objective of this research is to propose passage route navigation algorithms by which a holon-type mobile robot finds an optimal passage route to catch up with a moving target while avoiding moving obstacles. In this context, ldquoholon-typerdquo means ldquofree of directional constraints in motionrdquo. The authors have developed efficient algorithms under the dynamic environments, based on the...
Based on the interaction protocols of Contract Net and Subscribe-publish, a distributive pursuit-evasion algorithm is proposed for multi-agents with limited detection ranges to pursue multi-evaders in an unknown grid map with obstacles. The pursuit agents first explore the map according to the method of Artificial Potential Field. When any obstacle is detected within the neighborhood of a pursuer,...
This paper proposes a new localization algorithm for a fast-moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors, since the distance to the beacon is measured by the freight time of the ultrasonic signal. When the mobile robot is moving slowly, the...
Autonomous robot navigation is an important research field because these robots can solve problems where the human presence is impossible, dangerous, expensive, or uncomfortable. In this paper, a new hybrid autonomous navigation method is introduced. The algorithm is composed of visibility graph based global navigation and simple potential field based local navigation parts. It applies a new automated...
This paper presents a decentralized control algorithm for swarm of robots based on geometric approach. Our objective is to build a swarm that can demonstrate collective behavior. The control algorithm, which is executed by all the members of the swarm, is presented in details. Our simulation results show that group behaviors such as aggregation, obstacle avoidance and flocking are achieved successfully.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.