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This paper describes the path planning for the mobile robots, based on the Markov decision problems and the detection of dynamic objects using stereo-vision. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological...
In this paper, a fuzzy-inference controller with Accelerate/Brake (A/B) Module is proposed for navigation control of a mobile robot in dynamic environments. This approach includes target seeking, obstacle avoidance, and optimal path planning. By utilizing the fuzzy controller, a mobile robot could approach a target in a dynamic environment autonomously. The A/B Module of the proposed system is to...
The Rapidly Exploring Random Tree (RRT) algorithm can be applied to the robotic path planning problem and performs well in challenging, dynamic domains. Traditional RRT methods use a binary cost function and they select portions of the tree for expansion based on the Euclidean distance to the target. However, in outdoor navigation, the relative cost of terrain can also provide useful input to a planning...
Hybrid sensor networks (HSNs), made up of many static sensors interacting with a limited number of mobile robotic sensors, can support a variety of applications in which assisted navigation, implemented for mobile robotic sensors, performs requested operations in hostile environments, where the human presence is impracticable. On the other hand, the limited on-board battery energy of the sensor nodes...
Mobile robot navigation is one of the important domains in mobile robot technologiespsila research. This problem is divided into two categories of basic sub-problems: path planning and motion planning. In this paper we integrate the path planning and motion planning of a robot into a uniform framework, which is described by a hybrid system. Hybrid systems combine discrete and continuous behavior so...
Utilizing the advantages of wireless sensor network (WSN), this paper puts forward a novel dynamic obstacle avoidance algorithm used in unknown complex environment, which is a fundamental problem and important research area of mobile robots. In view of moving velocity and direction of both the obstacles and robots, a mathematic model is built based on the exposure model, exposure direction and critical...
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...
Autonomous robot navigation is an important research field because these robots can solve problems where the human presence is impossible, dangerous, expensive, or uncomfortable. In this paper, a new hybrid autonomous navigation method is introduced. The algorithm is composed of visibility graph based global navigation and simple potential field based local navigation parts. It applies a new automated...
We present new techniques for establishing lower bounds in robot motion planning problems. Our scheme is based on path encoding and uses homotopy equivalence classes of paths to encode state. We first apply the method to the shortest path problem in 3 dimensions. The problem is to find the shortest path under an Lp metric (e.g. a euclidean metric) between two points amid polyhedral obstacles. Although...
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