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This paper proposes a new algorithm for solving the robot path planning problem which includes finding a path from a source to a destination subject to certain constraints. First, using the overhead view of the surroundings, a free space model is created using MAKLINK graph theory. Then Dijkstra's Algorithm is applied over the MAKLINK graph to obtain a sub-optimal path. This sub-optimal path is further...
Many fields of study involve decision-making where trade-offs between different desirable outcomes are to be made. This paper introduces four designs for a graphical user interface (GUI) called the Adverb Palette (AP) to support interactive robot path-planning under multiple performance objectives. The GUI designs apply when the robot must go from an initial configuration to a goal configuration while...
Finding path in a given environment seems trivial so research, these days, is focused at finding optimal and quality path. Among others, distance traversed by a robot from start point to reach goal is an important measure of optimality and so is safety of robot while traveling through identified path. In this paper, we present a hybrid technique developed by integrating visibility graph as global...
In this paper we present a novel collaborative Q-learning based path planning system using holonic multi agent system architecture, to use in autonomous mobile robot represented as a head-holon, for planing the optimal path between any starting point and a goal in a grid environment. The mobile robot has to explore the 2D grid randomly in order to update a local state action space Q-table relaying...
Input shaping is a technique that reduces residual vibration by generating a self-canceling command signal. This technique is developed by N.C. Singer and W.P. Seering for flexible structures, and applied especially in aerospace field and robotics. Traditionally, input shaper has contained only positive impulses. However, negative valued impulses allow to decrease the shaper length. In previous works,...
Dijkstra's algorithm is a classic algorithm for finding the shortest path between two points due to its optimisation capability. The adjacency matrix is the naive storage structure of the algorithm. This storage structure has limited the use of the algorithm as it expands large storage space. A multi-layer dictionary is proposed in this work to enhance the storage structure. Previously, the algorithm...
We propose a new sampling-based path planning algorithm, the Optimal Minimum Risk Rapidly Exploring Random Tree (MR-RRT*), that plans minimum risk paths in accordance with primary and secondary cost criteria. The primary cost criterion is a user-defined measure of accumulated risk, which may represent proximity to obstacles, exposure to threats, or similar. Risk is only penalized in areas of the configuration...
In this paper, we present an architecture to fuse different data from onboard sensors (LiDAR and Camera) for real-time navigation of Unmanned Ground Vehicle (UGV). The proposed system architecture comprises three main interacting modules; line and obstacle detection module, path planning and tracking module, and a real-time motor driving processing module. While these modules were developed individually...
Modular robots consist numerous interconnected and often identical components called modules, through which flexibility and versatility are attained in their consigned tasks. This paper focuses on the locomotion of modular robots comprised of Atron modules, and proposes a new algorithm based on meta-module formation and planning in order to accomplish cluster-flow-type locomotion. Through an iterative...
This paper presents a method for planning near-optimal collision-free path between two pre-specified points with given orientations for nonholonomic flying robots or UAVs navigating in a 3D space amid obstacles. The proposed method is based on the Fast Marching Method (FMM), which uses a first order numerical approximation of the Eikonal equation. The FMM is combined with average filter, B-spline...
This paper deals with the collision-free path planning of planar parallel robot by avoiding mechanical interferences and obstacle within the workspace. For this purpose, an Artificial Potential Field approach is developed. As the main contribution of this paper, In order to circumvent the local minima problem of the potential fields, a novel approach is proposed which is a combination of Potential...
In this paper, we will create a suitable map for a given environment and plan a path to the target as in a engagement situation to find the optimal path, rather than finding the shortest path. Basically, the map is based on grid map and given Environmental information of engagement situation is described as probability based survivability map and visibility map. Introduced the concept of survival...
In nowadays, CNC machines are capable of achieve nanoscale precision. Also, many researches are being conducted in order to further improve the accuracy of the machined parts. On the contrary, we focused on a machining platform with a larger work space. In this study, we propose a hexapod machining robot, which can move to the desired location and perform machining. This robot can be viewed as a combination...
We consider constrained label placement problem considering touch interface such as smartphone or tablet. For scientific dataset search, the search results are shown on the global map based on spatial information. There spatial region are often unevenly distributed and most of them are overlapped each other. To select non-overlapped regions from overlapped regions can be considered as a combinational...
Path planning with obstacles avoidance in dynamic environments is a crucial issue in robotics. Numerous approaches have been suggested for the navigation of mobile robots with moving obstacles. In this paper, about 50 articles have been reviewed and briefly described to offer an outline of the research progress in motion planning of mobile robot approaches in dynamic environments for the last five...
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...
The use of automated robot systems in many different contexts and applications has increased significantly in recent years. A prominent application area is the transport of objects, which has applications to simple cases of moving objects in a home environment as well as in more complex scenarios, such as in search and rescue missions or commercial warehouses. In this work we propose a methodology...
In this paper it is presented a new approach to increase the dispersion of the nodes in the RRT, this approach allows a compact representation of the environment by reducing the nodes redundancy, with this, the number of samples discarded, the computational cost and the processing time of tree growth is also reduced. The developed method performs the polarization of the nodes creating search regions...
Many robotics applications require smooth orientation planning, i.e. interpolation or approximation of a frame orientation through prescribed configurations such that the angular velocity and its time derivatives are smooth. This for instance ensures the continuity of the motor torques of robotic manipulator. Yet no satisfactory solution to this problem has been presented. This paper presents a solution...
Path planning is a fundamental task for any kind of autonomous mobile robot. In this paper, we present a motion planning technique on the three-dimensional space considering vehicles with spatial curvature and pitch (climb or dive) angle constraints. Concerning real fixed-wing Unmanned Aerial Vehicles or underwater Remotely Operated Vehicles, we face the problem of calculating paths with continuous...
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