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This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
In various circumstances, planning at trajectory level is very useful to generate flexible collision-free motions for autonomous robots, especially when the system interacts with humans or human environment. This paper presents a simple and fast obstacle avoidance algorithm that operates at the trajectory level in real-time. The algorithm uses the Velocity Obstacle to obtain the boundary conditions...
This paper deals with the problem of obstacle avoidance for multi-agent systems. A novel framework is presented which combines the stream function with the artificial potential field. The introduction of stream function makes obstacle avoidance smoother while interactive potential guarantees stability of the system. A dynamic structure with visibility constraint and hierarchical associations is further...
A method for path planning for UAV was developed. This method is based on vector field, which has been used popularity in obstacle avoidance applications because of its elegance and simplicity. For solving the inherent limitations of vector field, the methods of adding guide field and virtual target point was used to deal with local minimization which caused by losing lots of environment information...
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...
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...
Nowadays, mobile robots work under the dynamic environments like manufacturing industries with machinery parts as moving objects and are using many techniques for navigation, obstacle avoidance, and localization. In this work we are using pioneer 2 DX mobile robot for experiments. This paper focuses on development of algorithms with the integration of path planning by potential field method and Monte...
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...
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.
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