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An automated docking system is presented for an autonomous underwater vehicle utilizing light-field imaging for navigation guidance. This article focuses on three major components of the system: docking position acquisition with light-field imaging, optimal docking trajectory planning, and nonlinear trajectory tracking control. With the camera sensor data of each photographic exposure, depth maps...
We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
In this paper, a guidance law for tracking straight-line segment and a constant-altitude circular orbits are proposed for a fixed wing unmanned aerial vehicle (UAV). Both guidance laws are based on the notion of vector fields, which are used to generate desired commands to the inner-loop attitude controller. Ground track heading error and lateral following error approach zero asymptotically even in...
Feature extraction is a key component of a Monocular Simultaneous Localization and Mapping (Monocular SLAM) system which permits to extract features and can also reliably track them over frames. In this paper, a novel approach for Monocular SLAM is proposed. This approach uses the information on the camera displacement and image saliency to adequately extract stable and suitable features, ones that...
In this paper, a generalized biased proportional navigation (PN) guidance law to intercept higher-speed nonmaneuvering targets at a desired impact angle is presented. Inspired by controlling the turn rate of the relative velocity vector, the biased relative PN is introduced to design the relative heading angular rate, which is required to be proportional to the LOS rate as in the case of PN but with...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
The extended weighted and objective functions are proposed based on the time-to-go function. According to the optimal control theory, a family of extended optimal trajectory shaping guidance laws is deduced for the constant maneuvering target. The variation of miss distance of position and angle with flight time is analyzed without considering dynamic lag. With the introduction of target hovering...
This paper presents a new cascade control architecture formulation for addressing the problem of autonomous vehicle trajectory tracking under risk and comfort constraints. The integration of these constraints has been split between an inner and an outer loop. The former is made of a robust controller dedicated to stabilizing the car dynamics while the latter uses a nonlinear Model Predictive Control...
This work addresses a technique for robot motion planning and navigation in dynamic environments. First, a model to represent the future evolution of the moving obstacles in the environment is defined in a robocentric reference, which maps the obstacle motion on the control space, the velocity-time space, of the robot. Second, a planning technique working on that model for navigation and maneuvering...
In this paper we address the problem of online trajectory optimization and cooperative collision avoidance when multiple mobile service robots are operating in close proximity to each other. Using cooperative trajectory optimization to obtain smooth transitions in multi-agent path crossing scenarios applies to the demand for more flexibility and efficiency in industrial autonomous guided vehicle (AGV)...
Timeseries sensor data processing is indispensable for system monitoring. Working with autonomous vehicles requires mechanisms that provide insightful information about the status of a mission. In a setting where time and resources are limited, trajectory classification plays a vital role in mission monitoring and failure detection. In this context, we use navigational data to interpret trajectory...
Pedestrian inertial navigation systems are nowadays integrated in all kind of location-based services. The orientation, particularly the heading estimation, is one of the most critical parts of the navigation system. The heading angle suffers from drift error. The algorithms proposed in the literature apply position corrections, which do not prevent the drift error to grow. We propose a novel landmark-based...
In this paper, we revisit a real-time socially-aware navigation planner which helps a mobile robot to navigate alongside humans in a socially acceptable manner. This navigation planner is a modification of nav core package of Robot Operating System (ROS), based upon earlier work and further modified to use only egocentric sensors. The planner can be utilized to provide safe as well as socially appropriate...
This paper focuses on requirements for effective human robot collaboration in interactive navigation scenarios. We designed several use-cases where humans and robot had to move in the same environment that resemble canonical path-crossing situations. These use-cases include open as well as constrained spaces. Three different state-of-the-art humanaware navigation planners were used for planning the...
No restrictions are imposed on the motion states of missile and target and the line of sight rotation coordinate system is introduced into the derivation of differential geometric guidance law. Then, the extended differential geometric guidance law is achieved whose scope of application is largely extended. In order to realize the derived law, instead of the complex computation of torsion command,...
The formation control problem of a multi-agent system with target tracking and navigation is resolved by a gradient based extremum seeking control (ESC) associated with artificial potential functions methodology in this paper. It aims to maintain and achieve a stable formation for a swarm of multi-agent system, while guaranteeing tracking of a specified trajectory. By incorporation of artificial potential...
The inertial navigation system (INS) errors are accumulated over time, so the position errors of each sampling point obtained by INS and applied in the geomagnetic matching algorithm are raised with sampling number increased. And the best transformation to describe the real trajectory and indicated trajectory consists of translation, rotation and stretching. Traditional matching algorithms use only...
In order to intercept against the fixed, uniform and maneuvering target with a certain impact angle accurately, a circular navigation guidance method based on sliding mode control is proposed in this paper. According to the geometrical analysis of the circular trajectory in a two-dimensional plane, the conclusion that only if impact angle is given, two of any points on the guidance face have a unique...
Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to help avoid obstacles, deal with system disturbances and correct uncertainties. However, constant checking is time and energy consuming and is often not necessary especially in situations in which the UAV can safely fly using open loop control without entering unsafe states. Thus, in this paper we focus on two main...
Robot navigation is a central problem in extraterrestrial environments and a suitable navigation algorithm that allows the robot to quickly but precisely avoid initially unknown obstacles is important for efficient navigation. In this paper, we consider a well-known machine learning-based framework called reinforcement learning for robot navigation and investigate a technique for adaptively adjusting...
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