Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces

Parasitic Robot System for Waypoint Navigation of Turtle

In research on small mobile robots and biomimetic robots, locomotion ability remains a major issue despite many advances in technology. However, evolution has led to there being many real animals capable of excellent locomotion. This paper presents a “parasitic robot system” whereby locomotion abilities of an animal are applied to a robot task. We chose a turtle as our first host animal and des...

4D Trajectory Generation and Tracking for Waypoint-Based Aerial Navigation

One of the operational requirements for unmanned aerial vehicles is the autonomous navigation and control along a given sequence of waypoints, or along a predefined trajectory. Existing autonomous navigation procedures are mostly done in 3D because of the stringent certification requirements for 4D flight and due to the complexity in coping with time of arrival at waypoints, whilst actual fligh...

Towards Optimal Robot Navigation in Domestic Spaces

The work presented in this paper is motivated by the goal of dependable autonomous navigation of mobile robots. This goal is a fundamental requirement for having autonomous robots in spaces such as domestic spaces and public establishments, left unattended by technical staff. In this paper we tackle this problem by taking an optimization approach: on one hand, we use a Fast Marching Approach fo...

Automatic Robot Navigation Using Reinforcement Learning

Mobile Robot Navigation in Narrow Aisles with Ultrasonic Sensors

This paper describes an experimental obstacle avoidance system for mobile robots traveling through the narrow aisles of a warehouse. In our application the aisles are 91 cm (36") wide and the robot has a width of 64 cm (25"), but the method described here is generally applicable to a large class of narrow-aisle navigation applications. Our approach is based on the carefully designed placement o...