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This paper describes a trajectory planning algorithm for mobile robot navigation in crowded environments; the aim is to solve the problem of planning a valid path through moving people.
This paper addresses the problem of ship trajectory planning in a collision situation. The objectives of this paper are twofold. The first objective is to propose the optimal safe ship trajectory in collision situation is presented as multistage decision-making in a fuzzy environment. The second objective is to use method based on the neural network to determine a safe ship trajectory planning. The...
Aiming at the problem of indoor navigation of family nursing robot, this paper proposes a dynamic window algorithm that the service robot could plan the optimal path autonomously and realize the obstacle avoidance quickly in the indoor dynamic environment. Firstly, the basic principle of the dynamic window method is introduced, and then the navigation system of the service robot's indoor dynamic environment...
In this work, we propose the combination of a state-of-the-art sampling-based local planner with so-called Velocity Costmaps to achieve human-aware robot navigation. Instead of introducing humans as “special obstacles” into the representation of the environment, we restrict the sample space of a “Dynamic Window Approach” local planner to only allow trajectories based on a qualitative description of...
Robot navigation in human environments has been in the eyes of researchers for the last few years. Robots operating under these circumstances have to take human awareness into consideration for safety and acceptance reasons. Nonetheless, navigation have been often treated as going towards a goal point or avoiding people, without considering the robot engaging a person or a group of people in order...
This paper deals with automation in navigation of differential drive robots in workspaces like offices, restaurants, etc. by mapping the entire workspace onto the robots in the form of a fixed reference co-ordinate frame which can then be used for position control and navigation. Generally, co-ordinate based navigation means a predefined path and correcting the robot on each point along its trajectory;...
Micro-manipulation and micro-assembly techniques play today a key role in the development of new integrated smart systems that can find applications in strategic fields such as transport, telecommunication, health and defense. However, the existing micro-handling solutions lack of speed, flexibility and autonomy which represents an obstacle to the development of these technologies. Our approach consist...
Robots of the future would be sophisticated enough to do all kinds of tasks for the human master, while operating a team of robots would ensure that the tasks are done as efficiently as possible. This paper presents a solution to a very common mission wherein a team of robots needs to visit a number of mission sights and carry some operation there. The sights may have their own preference of robots...
With the increasing amount of Automatic Identification System, AIS data, an effective analysis method and technology for large-scale data are a challenge. Information visualization is a suitable technology for people without professional data mining knowledge, such as navigation managers and ship drivers, for understanding mass AIS data. We implement direct and summary visualization of AIS information...
Motion trajectory tracing in indoor environment has become increasingly important, has the potential to support a broad array of applications including elder care, business analysis, pedestrian navigation. Traditional approaches involve wearable sensors, specialized hardware installations. This paper presents SmartMTra, an infrastructure-free, inertial sensor based motion trajectory tracing system...
This paper considers the closed-loop navigation of a hypothetical ocean-sampling vehicle in the presence of an idealized ocean-eddy pair. This problem embodies many of the challenges of spatiotemporal ocean sampling using minimally actuated Lagrangian sensors. We extend our existing guidance strategy known as the Boundary-Touring Algorithm (BTA) to steer a self-propelled vehicle to a unique streamline...
Aerodynamic uncertainty can lead to large variations in the dynamics of fixed-wing unmanned aerial vehicles. Thus, waypoint navigation is normally done using a feedback controller. In some environments navigation can be done in the open-loop provided that the control is desensitized to the uncertainty. In this paper, unscented optimal control is used to design such open-loop controls for guiding a...
This paper describes the acquisition of a collection of representative image datasets for use in the development of autonomous planetary descent and landing navigation systems. These datasets were recently obtained using the VISILAB test-bench at ESA-ESTEC in The Netherlands, and represent realistic powered descent trajectories over a Lunar-type surface, but can also be relevant to a wide range of...
Nowadays, not only the ability to navigate to destinations but also the ability to navigate in harmony in crowded environments is a crucial feature that helps mobile robots to be accepted in daily routines of humans. In the case of wheelchairs that can move in parallel to a caregiver (side-by-side), this requirement is more complex as the navigation should be comfortable to the wheelchair user, caregiver,...
An optimal design method for generating a flight path passing through specified waypoints while satisfying the task points sent by the ground operators is proposed in this paper. Each specified waypoint is reached exactly at the specified location and time while intermediate waypoints are generated in such a way that they satisfy the task points, with highest benefit measure, i.e., satisfying tasks...
Recent accident statistics have shown a continuous increase in year to year serious and very serious accidents at sea. In the near future, higher traffic density is estimated, which may further contribute to this increase. Within the 3-year Project MTCAS, partners from industry and academia contribute to accident reduction by developing an e-Navigation based System for pro-active, predictive and cooperative...
The paper describes a Synthetic Aperture Radar system currently developed by the Military University of Technology and a Polish private company WB Electronics S.A. in a frame of a project under acronym WATSAR. The project is aimed at designing, development and testing of a terrain imaging radar system operating from a miniature UAV. The paper presents structure and way of operation of the system and...
This paper describes a voice navigational system for the visually impaired which runs on the user's smart-phone as an application and requires no additional expensive or heavy hardware. This system requires just the live video stream from the user's phone camera and an internet connection, and hence can be used on the most basic of smart-phones. The system proposed here identifies obstacles in front...
This paper describes a method for estimating the relative pose of a pair of unmanned aerial vehicles (UAV) using noisy measurements from ranging radios and each aircraft's on board navigation system. In this method, there is no prior information needed about the relative pose of each UAV. During the estimation of the relative pose of two traveling UAVs, only a single range measurement between UAVs...
For many navigation scenarios, it is known that the accuracy of navigation state estimates depends on the path traveled, particularly when access to external navigation aids such as the Global Positioning System (GPS) is not available. In this work, we present a path planning method that attempts to minimize the navigation uncertainty of a pair of autonomous vehicles traveling from known initial locations...
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