This is the first installment of a two-part tutorial. The goal of the first part is to give the reader a basic understanding of the technical issues and types of approaches to solving the basic path planning or obstacle avoidance problem. The second installment will cover more advanced issues, including feedback, differential constraints, and uncertainty. Note that is a brief tutorial, rather t...

This paper presents a general description for obstacle avoidance algorithms which can also describe the obstacle avoidance style(walking habit) of moving objects (human beings).A complex sliding mode based obstacle avoidance is presented as a test method, which is learned and modeled by the above mentioned general description. The paper presents simulation results of the sliding mode based navi...

Control in behavior-based systems is distributed among a set of specialized behaviors. To achieve eecient implementation, behaviors exploit speciic assumptions about a given task and environment. Thus they become vulnerable to deviations that render these assumption invalid. Yet it is important to provide appropriate responses to unforeseen situations. We demonstrate that, using voting techniqu...

The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous ...

In this study we present an empirical experiment investigating obstacle avoidance and path selection behavior in rats and a number of visually-guided models that could account for the empirical data. In the experiment, the animals were repeatedly released into an open arena containing several obstacles and a single feeder that was marked by a large visual landmark. We recorded and analyzed the ...

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obsta...

We address the problem of dynamically switching the geometry of a formation of a number of undistinguishable agents. The need to switch formation geometry arises in situations when mission requirements change or there are obstacles or boundaries along the path for which the current geometry is inadequate. Here we propose a strategy to determine which agent should go to each of the new target po...

Potential field methods are rapidly gaining popularity in obstacle avoidance applications for mobile robots. The general principles of potential field path planning are presented first. The electrostatic potential field (EPF) path planner is then combined with a twolayered fuzzy logic inference engine and implemented for mobile robot navigation in a 2-D dynamic environment. The first layer of t...