Proceedings ArticleDOI
An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments
Kostas J. Kyriakopoulos,George N. Saridis +1 more
- pp 194-199
TLDR
A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented and local asymptotic stability is proved if the velocity of the moving obstacle is bounded.Abstract:
A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Simulation results verify the value of the proposed strategy. >read more
Citations
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Proceedings ArticleDOI
Motion prediction for moving objects: a statistical approach
Dizan Vasquez,Thierry Fraichard +1 more
TL;DR: A technique to obtain long term estimates of the motion of a moving object in a structured environment by observing the environment and clustering the observed trajectories using any pairwise clustering algorithm.
Proceedings ArticleDOI
Extended Kalman Filter for State Estimation and Trajectory Prediction of a Moving Object Detected by an Unmanned Aerial Vehicle
TL;DR: An extended Kalman filter is first used to estimate the states of a moving object detected by a UAV from its measured position in space, then the optimal object trajectory is predicted from the estimated object states and using the motion model defined for Kalman filtering.
Journal ArticleDOI
Intentional motion on-line learning and prediction
TL;DR: This work proposes an approach which uses hidden Markov models (HMMs) to represent motion patterns, and is able to learn and predict in a concurrent fashion thanks to a novel approximate learning approach, based on the growing neural gas algorithm, which estimates both HMM parameters and structure.
Journal ArticleDOI
Neural Networks Based Control of Mobile Robots: Development and Experimental Validation
TL;DR: A neural networks approach to the solution of the tracking problem for mobile robots and the proposed solutions are implemented on a PC-based control architecture for the real-time control of the LabMate mobile base and are compared with classical kinematic control schemes.
Journal ArticleDOI
Environment prediction for a mobile robot in a dynamic environment
C.C. Chang,Kai-Tai Song +1 more
TL;DR: An environment predictor that provides an estimate of future environment configuration by fusing multisensor data in real time and is implemented by an artificial neural network trained using a relative-error-backpropagation algorithm.
References
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Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Book ChapterDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: In this article, a real-time obstacle avoidance approach for manipulators and mobile robots based on the "artificial potential field" concept is presented, where collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control.
Journal ArticleDOI
Distance functions and their application to robot path planning in the presence of obstacles
Elmer G. Gilbert,Daniel Johnson +1 more
TL;DR: An approach to robotic path planning, which allows optimization of useful performance indices in the presence of obstacles, is given and mathematical properties of the distance functions are studied, which lead to the formulation of path planning problems as problems in optimal control.
Proceedings ArticleDOI
Motion planning in the presence of moving obstacles
John H. Reif,Micha Sharir +1 more
TL;DR: Evidence that the 3-D dynamic movement problem is intractable even if B has only a constant number of degrees of freedom of movement is provided, and evidence that the problem is PSPACE-hard if B is given a velocity modulus bound on its movements.
Journal ArticleDOI
Motion planning in the presence of moving obstacles
John H. Reif,Micha Sharir +1 more
TL;DR: Evidence that the 3-D dynamic movement problem is intractable even if B has only a constant number of degrees of freedom of movement is provided, and evidence that the problem is PSPACE-hard if B is given a velocity modulus bound on its movements.
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