this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

This paper presents a method to solve the problem of obstacle avoidance for a redundant manipulator so that it closely tracks the desired end-effector trajeclory and simultaneously avoids workspace obstacles. The proposed method introduces the describing Cunction J to indicate whether collision occurs between the robot and obstacles. The obstacle avoidance task is achieved by Cormulating the pe...

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...

Autonomous wheelchairs operating in dynamic environments need to sense its surrounding environment and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, simple and real-time autonomous navigation module that drives a wheelchair toward a desired target, along with its capability to avoid obstacles in a 3D dynamic environment. To ...

This paper presents a general framework for coordinated motion control of autonomous swarms in the presence of obstacles. The proposed framework judiciously combines concepts and techniques from potential flows, artificial potentials and dynamic connectivity to realize complex swarm behaviors. To begin with, existing concepts from potential flows in fluid mechanics are used to solve the single-...

This paper proposes a new hierarchical formulation of POMDPs for autonomous robot navigation that can be solved in real-time, and is memory efficient. It will be referred to in this paper as the Robot Navigation Hierarchical POMDP (RN-HPOMDP). The RN-HPOMDP is utilized as a unified framework for autonomous robot navigation in dynamic environments. As such, it is used for localization, planning ...

We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are a...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...