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We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper...
Small scale quad-rotor unmanned aerial vehicle (UAV) has attracted much attention in recent years and has been widely adopted in many civil applications, e.g. inspection of critical infrastructure spanning over a large geographical area. In a typical UAV based inspection system for large-scale photovoltaic farm, it is required to control the mounted gimbal camera taking pictures of all the PV modules...
This paper incorporates sampling-based global path planning with model predictive image-based visual servoing (IBVS) for quadrotor unmanned aerial vehicles (UAVs) equipped with a fixed camera. The proposed method produces safe control inputs of quadrotor in obstacle environment by taking image feature kinematics into account. Firstly, we utilize a sampling-based algorithm for optimal path planning,...
This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of robots moving in spatial environments. The slope of a terrain should be considered in a tensorial way because at any point on a mountainside there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, which is the perpendicular slope to the gradient. The resulting...
This study presents simulation results of nonholonomic mobile robot control with path planning which is based on Bézier Curves. The purpose of this paper is set to develop a simulation model for differential drive wheeled (DDW) robot by using MATLAB/Simulink environment. Fractional order PID structure is used to increase the tracking performance of DDW robot. Simulation results are compared for the...
Path planning is the one of the most basic research areas in robotics. It simply concern about acquiring a safe path with admissible cost. In this study, we adapt bidirectional rapidly random exploring tree (Bi-RRT) path extraction to visual based configuration space map hosting obstacles and smooth result path with curve fitting models. Firstly, a map of the configuration space is created and robot,...
This paper proposes a general framework to establish the dynamic movement primitives library (DMPL) for a mobile robot path planning in unknown environment. Based on DMPL, the mobile robot can autonomously compute a smooth path from the initial position to the target points while avoiding any existed obstacles. Path planning based on DMPL consists of two phases, the library building and its application...
This paper presents a kinematic model based path planning algorithm for autonomous vehicle. Polynomial parameterization is used to generate the trajectory. All constraints including kinematic constraints and obstacles are represented by polynomial parameters. Using this parameterization method the velocity can be planned simultaneously. Road information is taken into account in the object function...
The paper introduces a new, original approach for the application in robotics and automation. The application concerns a path planning module of an intelligent control system. The marine environment was chosen as an exemplary application area, but the method can also be applied for mobile robots. The presented approach calculates a safe, optimal path for a ship in a dynamic environment, where static...
In this paper, passive source localization of time-difference-of-arrival (TDOA) is investigated using a swarm of UAVs. First, the measurement model with a parameter dependent variance is introduced. The Cramer-Rao low bound(CRLB) is calculated with parameter dependent of the incoming measurements. Then a method for optimizing UAVs trajectories based on CRLB is proposed. The Dryden model is applied...
We present a runtime efficient approach to sampling-based path planning for fixed-wing unmanned aerial vehicles (UAV) based on line-graphs. Accounting for flight performance limits and the local prevailing wind, path planning is computationally expensive especially in 3D obstacle environments. A common approach is to solve the problem successively, i.e. to plan collision free paths, which are then...
Small unmanned aircraft systems (UAS) typically do not offer the redundancy typical in commercial aviation due to budget and weight limitations. UAS, therefore, have a nontrivial probability of encountering a scenario in-flight that requires an emergency landing. For fixed-wing UAS, one of the most common in-flight emergencies is a total loss of engine or motor thrust, necessitating that the UAS glide...
In this study, we present a class of nonlinear analytical solutions for the dynamics of a fixed wing unmanned aircraft vehicle (UAV). These solutions are needed for the integration and fusion of sensor data for input to guidance and control algorithms. Derivation and integration of the 3-rd order vector differential equation of motion, and its applications to various dynamical models are presented...
This paper presents a modified potential field method for mobile robots and intelligent vehicles local navigation. The approach overcomes the well-known artificial potential field (APF) method issue, which is due to local minima that induce the standard APF method to trap in. Thus, the standard APF method is no longer useful in such cases. The advantage of the new proposed method, as opposed to those...
In this research, we present a new algorithm for trajectory generation of two-wheeled mobile robots. The proposed methods is based on Rapidly exploring Random Tree (RRT) method and expands its structure with two different tree structure. By using dual tree, the proposed scheme can generate feasible path with low cost.
This paper addresses the control problem of transportation of a slung load by a multi-rotor. Control of the slung load system cannot be achieved with usual controllers for multi-rotors because motion of the load is highly coupled with the multi-rotor. Although many controllers have been developed for the system, there still exist several problems. For instance, in trajectory-following control, many...
Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of...
An innovative paradigm of path planning and control is proposed for autonomous driving vehicles. The scheme applies predictive control with sliding mode to solve the problem of path planning in the vehicle coordinates and control. The path for lateral motion is given by a sliding hyperplane in terms of lateral error and velocity in the vehicle coordinates. Sliding mode control is applied to attain...
This paper presents a path planning method based on Pythagorean Hodograph (PH) curves and harmony search algorithm for unmanned-aerial-vehicles (UAVs) in complex environments, especially in urban environment and mountainous circumstances. The flyable paths are tuned to meet spatial demands, satisfy kinematical and dynamic constraints of the UAVs, and guarantee no collision course between any two vehicles...
Automation in ground vehicles has been gaining momentum in recent years highlighted by the significant number of public demonstrations in the last two decades. This momentum has created an urgency within research organizations, vehicle manufacturers and academia to solve existing problems with autonomous vehicle technology to make it usable in the real world. As autonomous ground vehicles operate...
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