We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

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Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Localization is one of the key technologies in wireless sensor networks (WSNs), since it provides fundamental support for many location-aware protocols and applications. Constraints on cost and power consumption make it infeasible to equip each sensor node in the network with a global position system (GPS) unit, especially for large-scale WSNs. A promising method to localize unknown nodes is to use mobile anchor nodes (MANs), which are equipped with GPS units moving among unknown nodes and periodically broadcasting their current locations to help nearby unknown nodes with localization. A considerable body of research has addressed the mobile anchor node assisted localization (MANAL) problem. However, to the best of our knowledge, no updated surveys on MAAL reflecting recent advances in the field have been presented in the past few years. This survey presents a review of the most successful MANAL algorithms, focusing on the achievements made in the past decade, and aims to become a starting point for researchers who are initiating their endeavors in MANAL research field. In addition, we seek to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful advances in this research field.

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A Survey on Mobile Anchor Node Assisted Localization in Wireless Sensor Networks

Internet of Things (IoT) is a novel design paradigm, intended as a network of billions to trillions of tiny sensors communicating with each other to offer innovative solutions to real time problems. These sensors form a network named as wireless sensor networks (WSNs) to monitor physical environment and disseminate collected data back to the base station through multiple hops. WSN has the capability to collect and report data for a specific application. The location information plays an important role for various wireless sensor network applications. A majority of the applications are related to location-based services. The development of sensor technology, processing techniques, and communication systems give rise to a development of the smart sensor for the adaptive and innovative application. So a single localization technique is not adequate for all application. In this paper, a recent extensive analysis of localization techniques and hierarchical taxonomy and their applications in the different context is presented. This taxonomy of the localization technique is classified based on presence of offline training in localization, namely self-determining and training dependent approaches. Finally, various open research issues related to localization schemes for IoT are compared and various directions for future research are proposed.

Location of Things (LoT): A Review and Taxonomy of Sensors Localization in IoT Infrastructure

The increasing deployment of multiple unmanned vehicles systems has generated large research interest in recent decades. This paper therefore provides a detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning. Differing from other related papers, this paper pays a special attention to the collision avoidance problem and specifically discusses and reviews those methods that adopt flexible formation shape to achieve collision avoidance for multi-vehicle systems. In the conclusions, some open research areas with suggested technologies have been proposed to facilitate the future research development.

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A survey of formation control and motion planning of multiple unmanned vehicles

This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to rotate and translate independently and simultaneously. A kinematics model of the OMR is established and a model predictive control (MPC) algorithm with control and system constraints is designed to achieve point stabilization and trajectory tracking. Simulation results validate the accuracy of the established kinematics model and the effectiveness of the proposed MPC controller.

Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

Path planning with obstacle avoidance based on visibility binary tree algorithm

An algorithm for multi-robot collision-free navigation based on shortest distance

Multi-robot localization and orientation estimation using robotic cluster matching algorithm

Multi-robot collision-free navigation based on reciprocal orientation

In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance. Index Terms — Path planning, polygonal obstacles avoidance, randomized incremental algorithm, visible tangent graph.

Abdulmuttalib T. Rashid

Papers

Path planning with obstacle avoidance based on visibility binary tree algorithm

An algorithm for multi-robot collision-free navigation based on shortest distance

Multi-robot localization and orientation estimation using robotic cluster matching algorithm

Multi-robot collision-free navigation based on reciprocal orientation

An algorithm for Path planning with polygon obstacles avoidance based on the virtual circle tangents