Journal ArticleDOI
Integrating explicit path planning with reactive control of mobile robots using Trulla
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TLDR
A method of interleaving explicit path planning with reactive control for computationally bound robots such as planetary rovers and robots operating in indoor environments with a large number of minor unmodeled obstacles is investigated.About:
This article is published in Robotics and Autonomous Systems.The article was published on 1999-06-30. It has received 26 citations till now. The article focuses on the topics: Mobile robot & Obstacle avoidance.read more
Citations
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Journal ArticleDOI
Exploration method using harmonic functions
TL;DR: Harmonic functions provide optimal potential maps for robot navigation in a previously explored static environment by using simulations and experiments with the Nomad 200 robot to investigate the algorithm performance in respect to parameters such as the frequency of updates and the numerical method used to calculate the harmonic potential.
Vector pursuit path tracking for autonomous ground vehicles
Jeffrey S. Wit,Carl D. Crane +1 more
TL;DR: In this article, a vector pursuit path-tracking method and two fuzzy reference model learning controllers (FRMLCs) are implemented to execute the vehicle s desired turning rate and speed.
Global Path Planning for Unmanned Ground Vehicles
TL;DR: An overview of high-level path planning methods used in mobile robotics with special emphasis on outdoor planning for unmanned ground vehicles and all portions of the path planning process including world representation, graph search algorithms, and planning for partially and completely unknown environments are surveyed.
Journal ArticleDOI
Global Navigation in Dynamic Environments Using Case-Based Reasoning
TL;DR: The experimental results demonstrate that using case-based reasoning considerably increases the performance of the robot in a difficult uncertain environment and learns to take actions that are more predictable, minimize collision risk and traversal time as well as traveled distances.
Journal ArticleDOI
Prune-Able Fuzzy ART Neural Architecture for Robot Map Learning and Navigation in Dynamic Environments
TL;DR: A new online method for learning maps of unknown dynamic worlds using the new Prune-able fuzzy adaptive resonance theory neural architecture (PAFARTNA), which extends the FARTNA self-organizing neural network with novel mechanisms that provide important dynamic adaptation capabilities.
References
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Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
A robust layered control system for a mobile robot
TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Journal ArticleDOI
Strips: A new approach to the application of theorem proving to problem solving
Richard Fikes,Nils J. Nilsson +1 more
TL;DR: In this paper, the authors describe a problem solver called STRIPS that attempts to find a sequence of operators in a space of world models to transform a given initial world model in which a given goal formula can be proven to be true.
Journal ArticleDOI
The vector field histogram-fast obstacle avoidance for mobile robots
Johann Borenstein,Yoram Koren +1 more
TL;DR: A real-time obstacle avoidance method for mobile robots which has been developed and implemented, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target.
Book ChapterDOI
Optimal and efficient path planning for partially-known environments
TL;DR: A new algorithm, D*, is introduced, capable of planning paths in unknown, partially known, and changing environments in an efficient, optimal, and complete manner.