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3D path planning close to helicopters' flight dynamics limits is a critical challenge to enhance missions' assistance or autonomy. Pure dynamics model with successive integrations, Pythagorian Hodograph methods or fictive potential fields bring different drawbacks that cannot solve the problem of connecting 3D positions with associated complex set of constraints (speed orientation, curvature, torsion…)...
Automatic robotic drawing is a fantastic demo to show the combination of intelligence and robot technique. It requires automatic feature extraction, complex robot path planning and optimization, which can make many contributions in industrial manufacturing. In this paper, we propose a hybrid method by combining local binarization with global binarization to extract features. The extracted features...
This paper presents a new approach to formation control of a swarm of unmanned aerial vehicles (UAVs) to track a moving target in dynamic environment based on the artificial potential field method combined with Lyapunov vectors method and rotation vectors. Every UAV moves to the balance points on the spherical surface whose center is the virtual leader. The tangent vector leads the UAV avoid the obstacle...
In this paper a simple method of orientational path planning for commonly used 6R manipulators is presented. The chosen criterion is to minimize changes of values of manipulator's joints. For a given set of locations a proper orientation of end-effector has to be computed. The three Euler angles (α, β, γ) have been replaced with one angle (δ). In order to reduce the number of variables describing...
Three dimensional (3D) printing can be used to manufacture many different objects range from toys to hi-tech robot parts. This paper investigates 3D printer trajectory planning to improve the speed of the printing process. The printing speed mainly depends on the motion speed and path of the printing nozzle. We use triangular and trapezoidal velocity profiles to minimize the transition time between...
The method of formation of smooth trajectories of the AUV movement during performing of missions in unknown environment is offered in paper. This method is based on use of the data from their onboard sensors of a distance and allows to correct the trajectory defines by means of Bezier's splines of the third order during AUV movement. Use of the offered approach allows to provide high precision and...
Planning of 3D-trajectories for robots can be very time consuming, especially if a defined movement of the work-piece relative to a process-tool is required. Commonly the dynamic attributes of the robot are not considered during the planning. Adjacent process planes, which share the same edges but have different angles of their surface normals, require an abrupt change of the work-piece orientation...
A wireless navigation mobile robot system is proposed in this paper for both path planning and trajectory execution. It should be within an indoor maze environment. The system consists of some device like a mobile robot, motion controller, visual sensor, ZigBee wireless communication device and a maze terrain to capture images of the mobile robot. The camera is used within the maze. To determine the...
This paper presents preliminary investigationsinto quantification of curvature uncertainties in executing piecewise-continuous-curvature curves (PCC-Curves). ThePCC-Curves are widely used in path planning & trajectoryshaping in robotics, CAD, image processing. Dubins curve is one of such curves used in path planning. This paper investigates the difference between reference and actual velocities...
This work presents a new approach to solve the problem of local minimum which happens usually in the case of multiple robots navigation. The multi-robot path planning based on artificial potential field is among of the most popular method for trajectory planning. However, in some spatial-temporal coordinates, the algebraic sum of all the potentials generated by all the torques/forces is null. In such...
Monitoring and recognition of large areas bringgreat challenge and Unmanned Aerial Vehicles (UAV) promise tobe a great help. The challenge is to optimize the task of UAVs, in order to reach the goals with maximum possible quality. Theobjective of this work is to analyze possible path algorithms andthe feasibility of embedded them in a UAV. The question we aim at answering is: given a set of points...
Sensor localization is a fundamental and crucial problem in wireless sensor network (WSN). A few methods have been proposed to deal with this issue, while schemes with mobile anchors stand out, due to the characters of low cost, flexibility and high precision. One key issue of the anchor based scheme is path planning. Proper path planning can guarantee good coverage of the whole sensing field while...
An important task for mobile robots is autonomous navigation, where the robot travels between a starting point and a target point without the need for human intervention. This task can be described as a planning path problem, whose purpose is to locate sequential segments of state transitions (Cells) from an initial to a final goal. This paper investigates a family of trajectory generation algorithms...
Path planning and autonomous navigation are some of the most important challenges in mobile robotics. These are difficult tasks because the robot has to accurately and safely perform autonomous maneuverings. This paper presents a methodology to efficiently plan the trajectory of a robot in dynamic and complex environments, which it should traverse autonomously. A planner based in the AD* algorithm...
A method is presented for planning the path of an autonomous mobile robot operating in a human environment. Traditional planning methods use a map showing only static obstacle information, so the path generated does not reflect movement rules in the environment. As a result, the path planning does not take into consideration such things as inaccessible area that there is not the obstacle and passage...
This paper presents a 3D path planning approach for UAV navigation given a mission task specified by a sequence of midway points and required orientation at each point. The approach developed was inspired by the Dubins 2D airplane algorithm. To avoid the difficulty of direct extension to 3D, the heading adjusting is undertaken in horizontal 2D plane at different altitude and the z motion is applied...
This paper presents a series of image processing methods which can be used in order to get the trajectory of a mobile robot that moves in a real environment with obstacles. There are many situations when the distance between the robot and the final target is relatively long. In this case the intermediate targets are useful. On the other hand, the CNNs (Cellular Neural Networks) are considered a good...
This paper describes a modified fast marching (FM) path planning algorithm for unmanned surface vehicles (USVs). The modified FM algorithm generates a two-layered synthetic vector field to represent a dynamic environment. The synthetic vector field integrates the obstacle information and the environment information, where current and wind velocities vary in both magnitude and direction. The path planning...
This paper presents the recent developments of an Optimal Path Planning — Decision Support System (OPP-DSS). The designed framework is based on multi-objective optimization algorithms providing a set of Pareto efficient solutions representing a trade-off among mission objectives. Meteorological and Oceanographic (METOC) and Automatic Identification System (AIS) vessel traffic data are integrated and...
In this paper, we develop a procedure for evaluating the performance of a single moving sensor system to estimate the range to a stationary emitter based on the discrete-time collection of bearing measurements along the trajectory travelled. We describe a numerical procedure to calculate the range p.d.f. from a chosen trajectory assuming a constant quality for the bearing measurements and use this...
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