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Unmanned aerial vehicle that is moving from one place to another needs to have a real-time obstacle avoidance controller to prevent collisions in the obstacles around it. In this paper, the concept of artificial potential field is proposed to implement obstacle avoidance in swarm of quadrotors. This is based on the assumptions that the target and obstacle will introduce a certain force that will direct...
In this paper, an obstacle avoidance strategy using monocular gray-scale robotic vision for turbid water environments is presented. Biologically inspired by the unique vision system of the cubozoan, or box jellyfish, the proposed obstacle avoidance techniques were designed to be as computationally inexpensive as possible for implementation in a compact autonomous underwater vehicle with on-board processing...
This paper presents a supervisory control structure to ensure safety of low speed autonomous vehicles. The method can provably ensure safety for an autonomous robotic vehicle to navigate in an urban/indoor environment with multiple moving objects. A polar algorithm is developed to construct a polytopic avoidable set, which is then used to construct barrier functions. Then the mixed integer programming...
We propose a method to efficiently compute the forward stochastic reach (FSR) set and its probability measure. We consider nonlinear systems with an affine disturbance input, that is stochastic and bounded. This model includes uncontrolled systems and systems with an a priori known controller, and often arises in problems in obstacle avoidance in mobile robotics. When used as a constraint in finite...
We present a novel method for robotic mower's lawn obstacle avoidance as well as motion control, which is based on the Gabor texture classification and drivable region search methods. In our approach, a camera is applied to obtain real-time image streams of lawn scenes, Gabor filters are then applied for extracting robust texture features. Based on the compressed features, a SVM model is trained and...
Follow the Gap Method (FGM) is an obstacle avoidance method which uses gap arrays. This method recursively directs robot to the goal state while avoiding the obstacles through the safest gap. Since FGM is a geometric method, it does not consider the robot dynamics. For this reason, oscillations or collisions due to robot dynamics is possible. On the other hand, FGM calculates a desired heading angle...
To overcome the high time consumption, unreasonable rotation and poor environment adaptability in obstacle avoidance of wheeled robots formation, a strategy combining heuristic path planning function and optimal formation transformation is proposed, and it is applied to AGV (Automatic Guided Vehicle). First of all, a base of common robots formation knowledge and the transformation time is built; Secondly,...
Automatic control system for robotics is getting popular day by day because of its incredible reliability and especially for the time optimization capability with performance. In this paper, the implementation of a room cleaning robot is presented which has been developed using the Arduino Uno platform with control ability by cell phone from any distance using DTMF technology. It is an electronic...
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...
This paper introduces a novel approach for secure navigation of wheelchairs. The approach is based on a combination of robotic road train based navigation and Cloud Computing technologies. The navigation strategy is inspired from elephants. Marching trunk to tail, each wheelchair in a platoon takes cues from the wheelchair just in front of it. The leader of navigation is a person. The cloud computing...
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 presents a new approach to improve the remote navigation of a teleoperated demolition machine. To improve navigation usability of the teleoperated system the following topics will be covered: obstacle avoidance, wall alignment, and machine optimal positioning for demolition operations. In order to enhance the ability of the operator to navigate in a cluttered environment, a Haptic-Assisted...
Path planning with obstacles avoidance in dynamic environments is a crucial issue in robotics. Numerous approaches have been suggested for the navigation of mobile robots with moving obstacles. In this paper, about 50 articles have been reviewed and briefly described to offer an outline of the research progress in motion planning of mobile robot approaches in dynamic environments for the last five...
Picking and placing objects on the table for an assistive humanoid robot requires good coordination and motion strategies. Obstacle avoidance is one of the main factor needs to be considered. In this paper, the arm motion generation for obstacle avoidance is formulated as an optimization problem. Multi-Objective Genetic Algorithm (MOGA) is utilized to generate the neural controller, optimizing three...
The Practical Swarm Optimization (PSO) algorithms are required to accomplish more services in the real time indoor environment. There is uncertainty to traverse the multi robots in real time robust indoor environment from one point (start) to another point (Goal). This research made capable to handle robust indoor environment with an efficient hardware scheme using behavioural control of multi robot...
This paper presents a novel approach for the adaptive formation control of multi-agent systems to track a moving target in a dynamic environment. In this approach, while the swarm reaches the target position, if it detects obstacles on the way, its size will change in order to avoid these obstacles. In special cases, such as when the space between the obstacles is narrow, then the formation of the...
This paper presents an adaptive artificial potential field method for robot's obstacle avoidance path planning. Despite the obstacle avoidance path planning based on the artificial potential field method is very popular, but there is local minima problem with this approach. As a result, this paper proposes an improved obstacle potential field function model considering for the size of the robot and...
This paper presents a novel approach to path planning for the formation of a swarm of autonomous robots to track a moving target in an unknown environment. This approach is based on the traditional potential fields combined with the rotational vector field. The potential field is used to repel the robots away from obstacles while the rotational vector field is added to drive robots to avoid obstacles...
A novel approach to path planning for the formation of a swarm of autonomous robots in an unknown environment is presented in this paper. This approach is designed based on the traditional potential fields combined with the rotational vector field. Under the action of this blended vector field, autonomous robots can easily avoid obstacles in order to reach the target position. Furthermore, in this...
In this paper, we focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number...
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