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An improved self-organizing map-based approach is proposed for multiple autonomous underwater vehicle (multi-AUV) system to complete the allocation of targets and path planning in the paper. Each target is to be visited by one and only one AUV, and a shortest path between a starting point and the destination for each AUV in the presence of the variable current environment is to be found. Firstly,...
This paper proposes a novel algorithm for parking motion of a Car-like mobile robot. The algorithm presented here addresses calculating equations for planning a parking path in real time. Moreover, by incorporating the constraints of the mechanical and kinematical characteristics of the car and the geometry of the parking lot in the path planning, we can turn a parking problem into solving algebraic...
This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the overall system design and the details of each subsystem.
We present a real-time path planning method for on-road autonomous driving. This method utilizes a two-level hierarchy consisting of on-road behavior planning and online path generating to achieve feasible paths for autonomous vehicle in dynamic on-road environment which is characterized by lots of structured information and flat terrain. An on-road behavior planning technique is used to transform...
This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called...
Autonomous vehicles are often employed to explore an area and collect information from objects of interest. In this paper, we consider path planning for an autonomous vehicle in a generalized information collection infrastructure. A novel information collection model that accounts for the vehicle visibility range is proposed which enables the modeling of non-isotropic targets, i.e., targets with unequal...
Dubins' result on paths of minimum length and bounded curvature led to a popular method of path planning for constant-speed vehicles moving in the horizontal plane. Constructing a Dubins path involves stitching segments that correspond to maximum rate turns and straight-line motions. However, a path that requires a maximum rate turn cannot be tracked, in general, because feedback corrections that...
A car parking control problem is difficult because of nonholonomic constraints and complicated environmental geometry. We proposed KPP (Korea University Path Planner) in our prior work. KPP is a appropriate scheme for a car-like mobile robot in a parking environment. The purpose of this paper is to investigate the advantages of KPP through both quantitative and qualitative analyses. For comparison,...
This paper addresses the problem of path planning for automated guided vehicles (AGV) system in the autonomous vehicle storage and retrieval systems (AVS/RS). To solve the problem of AGV system under dynamic uncertain environment, we propose a new method by extending the framework of interactive dynamic influence diagrams (I-DIDs) with communication capabilities, called Com-I-DIDs. Our work focuses...
This paper presents a strategy for a rover navigation in initially unknown or poorly known environments. The strategy consists in determining the areas in which information is relevant to gather for the rover to reach the goal. The approach relies on a probabilistic reasoning on the currently available information on the environment, and on the models of the vehicle perception and motion abilities...
Path planning is applied in a variety of ways, including transportation, telecommunications, etc. Path planning to direct vehicles to their destination in a dynamic traffic situation, with the aim of reducing the motoring time and to ensure and efficient use of available road resources is the main challenge in route guidance system. In this paper we propose a fast path algorithm for finding the best...
Automatic vehicle parallel parking design and its related concerns about safety improvement remain some of the heated problems for automatic land vehicular control. This paper presents the calculation process of a parallel parking car's path planning and the algorithm development for its motion design based on a fifth-degree polynomial curve. In addition to the proposed algorithm for automatic vehicle...
This paper addresses the problem of path planning for a group of Unmanned Aerial Vehicles (UAVs) to carry out a reconnaissance mission given regions of interest (ROI) within a specified geographic area. Employing teams of UAVs may reduce the time to accomplish a required mission however the problem becomes one of optimal resource allocation and is NP-hard. Traversal through a partially known environment...
A new graph representation of a 2D environment is proposed in order to solve path planning problems with curvature constraints. We construct a graph such that the vertices correspond to feasible beamlets and the edges between beamlets capture not only distance information but directionality as well. The A* algorithm incorporated with new heuristic and cost function is implemented such that the curvature...
Long range and high endurance Autonomous Underwater Vehicles such as gliders enable sustained oceanographic sampling at larger time-scales and much lower operational costs compared to traditional ship-based sampling methods. While most path-planning methods for AUVs optimize paths with respect to efficiency, obstacle avoidance, and control they do not explicitly address the issue of finding the safest...
Based on the deteriorating traffic conditions, three traffic parameters, path saturation, vehicle speed, road length were selected and computed for data fusion by D-S evidence theory to get the weight of each road, and then with pulse coupled neural network the optimal path was selected according to the calculated weights. Experimental results show that the method can not only shorten the travel time,...
This paper is presented in the context of the TRIDENT European project. The paper proposes a path planning approach that uses homotopy classes to guide the path search in bathymetric maps. First, it turns the bathymetry into a 2D workspace. Then, it builds a topological environment based on the workspace to compute homotopy classes, which topologically describe how paths go through the obstacles in...
For ship navigation, many researchers have adopted ideas from traditional robot navigation technology. In most cases, however, they haven't considered sufficiently, or even ignored sometimes, hydrodynamic or aerodynamic effects in ocean environment when they perform path planning. This may result in waste of enormous energy or sometimes induce potential collision risk. We should consider much more...
In this study, a smooth path planning approach is proposed and compared to path smoothing for an autonomous mobile robot. Classical start-goal oriented path planning algorithms find paths that do not consider robot kinematic constraints. These paths may have sharp turns at some intersections. When mobile robot follows such a path, it stops, reorients the wheels and speeds up again. So the robots waste...
This paper presents an efficient approach to global path planning for multiple agents during large-scale map deformation. The problem of planning using dense data during large-scale map deformation is addressed by using a hybrid metric-topological planner that maintains locally consistent policies. These policies are cached, providing efficiency gains relative to alternate planning approaches that...
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