Journal ArticleDOI
Reactive navigation in dynamic environment using a multisensor predictor
Kai-Tai Song,Chia-Chen Chang +1 more
- Vol. 29, Iss: 6, pp 870-880
TLDR
A reactive navigation system for an autonomous mobile robot in unstructured dynamic environments is presented and the predicted obstacle configuration is employed by the proposed virtual force based navigation method to prevent collision with moving obstacles.Citations
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Journal ArticleDOI
Reinforcement based mobile robot navigation in dynamic environment
TL;DR: The results show that the new approach has a high Hit rate and that the robot succeeded to reach its target in a collision free path in most cases which is the most desirable feature in any navigation algorithm.
Journal ArticleDOI
Information-Driven Sensor Path Planning by Approximate Cell Decomposition
Chenghui Cai,Silvia Ferrari +1 more
TL;DR: A novel approximate cell-decomposition method in which obstacles, targets, sensor's platform, and FOV are represented as closed and bounded subsets of an Euclidean workspace, and these strategies outperform shortest path, complete coverage, random, and grid search strategies.
Journal ArticleDOI
Reactive Path Planning in a Dynamic Environment
TL;DR: This paper deals with the problem of path planning in a dynamic environment, where the workspace is cluttered with unpredictably moving objects and the concept of the virtual plane is introduced and used to create reactive kinematic-based navigation laws.
Journal ArticleDOI
An Information Roadmap Method for Robotic Sensor Path Planning
TL;DR: A new probabilistic roadmap method is presented for planning the path of a robotic sensor deployed in order to classify multiple fixed targets located in an obstacle-populated workspace in which obstacles, targets, sensor’s platform and field-of-view are represented as closed and bounded subsets of an Euclidean workspace.
Journal ArticleDOI
An Information Potential Approach to Integrated Sensor Path Planning and Control
TL;DR: Numerical simulation results show that the information potential method outperforms other strategies, such as rapidly exploring random trees and classical potential field methods, for integrated path planning and control.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol 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 geometric transformation.
Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
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.
Journal ArticleDOI
Motion Planning in Dynamic Environments Using Velocity Obstacles
Paolo Fiorini,Zvi Shiller +1 more
TL;DR: This paper presents a method for robot motion planning in dynamic environments that consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on the rental positions and velocities of the robot and obstacles.
Heuristic Motion Planning in Dynamic Environments Using Velocity Obstacles
P. Fiorini,Z. Shiller +1 more
TL;DR: In this paper, the authors present heuristic methods for motion planning in dynamic environments, based on the concept of Velocity Obstacle (VO), which is a heuristic method for motion prediction in a dynamic environment.