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For the accuracy and real-time requirements of stereo matching when mobile robot recognizes the target, an improved winner-take-all (WTA) algorithm which is based on the parallel binocular system is proposed. First, extract the relatively big difference points between two images as feature points. Then, implement the stereo matching for the feature points using WTA algorithm and only implement a simple...
In this paper, we introduce cooperative autonomous driving algorithms for vehicular networks with nonlinear mobile robot dynamics in urban environments that take human safety into account and are capable of performing vehicle-to-vehicle (V2V) and vehicle-to-pedestrian (V2P) collision avoidance. We argue that “flocks” are multi-agent models of vehicular traffic on roads and propose novel autonomous...
This research is extension of previous research on method of Collaborative and Non-Collaborative Dynamic Path Prediction Algorithm for Mobile Agents Collision Detection with Dynamic Obstacles in 3D Space. In this research the extension of the algorithm for dynamic collaborative path prediction for mobile agents is proposed and two important issues Coefficient of agility and Minimal sampling frequency...
Recently, advanced automobile parts with functions of ASV (Advanced Safety Vehicle) and ADAS (Advanced Driving Assistance System) are developed by various automotive manufactures and major parts companies. To develop and commercialize these advanced parts, various test methods including unit function test, compatibility test, VDS (Vehicle Driving Simulator) based test and T-Car test are needed because...
In this paper, a new algorithm for mobile robot navigation is presented. Some previous works have been proposed to solve this problem which only assumes the obstacles moving at constant speeds. However, differently from the unrealistic assumption, the obstacles can move at variable speed in the real world. The goal of the proposed algorithm is assisting mobile robots smoothly avoid moving obstacles...
Artificial potential field method is a simple and efficient path planning algorithm for mobile robots. When it is used for avoiding dynamic obstacles, the intermittent local minimum problem and oscillation phenomenon will be emerged because only the path of mobile robots can be changed through force analysis whereas the speed of mobile robots can not be adjusted. Therefore, the real time property...
In order to enhance the autonomous navigation ability of multiple mobile robots, a tabu search based leader follower flocking algorithm is proposed to overcome the local minima problem and realize the autonomous navigation in unknown obstacle environments. Leader robot is capable of avoiding obstacles and seeking goal by tracking virtual sub goals generated by tabu search algorithm, follower robots...
In real time network based teleoperation, different tasks or events requires different feedback resolutions and thus different rates of feedback are needed for reliable and efficient task completion. For example, in navigation if obstacles are distant then rate of video feedback can be reduced versus when the vehicle is approaching an obstacle. In order to efficiently teleoperate mobile robots, dynamic...
This paper discusses two proposed robust controllers to solve the trajectory tracking problem of nonholonomic wheled mobile robots. The complete model of this can be divided into robot kinematics and robot dynamics. To take advantage from this fact, two combined controllers are design, which are based on Discrete Super Twisting Algorithm to kinematics and Discrete-time Neural Block Control and Discrete...
This paper presents a comparative study of three algorithms that use occupancy grid map of environments to find a path for a mobile robot from the given start to the goal — the D∗, Two Way D∗ (TWD∗) and E∗. All three algorithms have ability of dynamic replanning in case of changes in the environment. The D∗ algorithm produces a path consisted of line segments that have discrete transitions between...
The development of intelligent surveillance systems is an active research area. In this context, mobile and multifunctional robots have been recently adopted as successful means to reduce fixed installations and the number of devices needed to cover a given area. On the other hand, modern techniques for data fusion and decision making can significantly increase the information content extracted from...
Mobile Robot Navigation is an advanced technique where static, dynamic, known and unknown environment is involved. In this research, Genetic Algorithm (GA) is used to assist mobile robot to move, identify the obstacles in the environment, learn the environment and reach the desired goal in an unknown and unrecognized environment. This study is focused on exploring the algorithm that avoids acute obstacles...
For solving the problems that random objects are feature point and obstacles, this paper presents an efficient approach for Path Planning of Robot based on Simultaneous Localization and Mapping (SLAM) algorithm. Low-cost ultrasonic sensors as the design scheme of distance measuring is adopted. Aiming to obtain the probability of grid map update effectively, an improved Bayesian formula is proposed...
The article researChed the path planning of the multiple mobile robots moving to the target position in the unknown environment, and used the dynamic programming algorithm to solve the minimum displacement techniques on the supervised computer. The mobile robot has the shape of cyLinder and its diameter, height and weight is 10cm, 15cm and 1.5kg. The controller of the mobile robot is MCS-51 microchip,...
In this paper a new method to find global optimal path is obtained. Utilization of standard graph searching methods leads to eliminate uncertainness of heuristic algorithms. By using graph searching method a suboptimal solution is obtained, it causes to increase speed, precision and performance of heuristic algorithms. Firstly, the environment is defined with using a useful graph theory. Then by adaptive...
Basing on the theory of WF(Wave-Front), the D* algorithm is modified to improve the adaptability of robots in dynamic environments, and the dynamic subgoal A* algorithm is employed to construct the path planner of robot. Simulation results show that the proposed path planner is provided with optimal global paths and operation efficiency is much higher, and it has good real-time in path re-planning...
This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm...
The paper presents a task-priority motion planning algorithm for a balancing robot, derived from the endogenous configuration space approach. The motion planning problem is composed of three sub-tasks. Firstly, the robot has to reach a desirable point in task space (proper motion planning). Secondly, the upward position of the robot torso should be maintained during the motion. Thirdly, the motion...
This paper focuses on the flight path planning process with multi-agent for Unmanned Aerial Vehicle (UAV) based on threats analysis and path length constraint. Path planner agent searches the path with global view considering path length constraint and information collector agent deals with path planning in the zone of threats. Scoring function is presented based on analysis the threats' attributes...
In order to control a modular wheeled snake robot, there is a complexity of generating a control solution that has to satisfies non-holonomic constraints which depends on the robot configuration. For a pole climbing application, in which the modular snake robot is required to climb a cylindrical pole vertically, we proposed a control method for the modular snake. By generating the control input such...
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