In the context of automated highway systems (AHS), this work proposes an approach that enables a vehicle to autonomously join platoon with optimized trajectory in presence dynamical traffic obstacles. A notable aspect is use Model Predictive Control (MPC) optimization planned path, conjunction variant Rapidly-exploring Random Trees (RRT*) algorithm for purpose formation. This combination effici...

This paper is concerned with finding an optimal path for observer, or sensor, moving at a constant speed, which to estimate the position of stationary target, using only bearing angle measurements. The generated in sense that, along path, information, and thus efficiency potential estimator employed, maximized. In other words, observer deemed if it maximizes information so that location target ...

The path planning problem is relevant for all applications in which a mobil robot should autonomously navigate. Finding the shortest path in an environment that is only partialy known and changing is a difficult problem. Replaning the entire path when the robot encounters new obstacles is computational inefficient. Starting with an initial path and than modify the path locally does not guarante...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...