Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

in this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. it is assumed that the robot performs navigation in unknown environment and builds the map through slam procedure. since the moving objects' location and properties are unknown, they are identified and tracked by kalman filter. kalm...

The purpose of the current study was to understand how visual information about an ongoing change in obstacle size is used during obstacle avoidance for both lead and trail limbs. Participants were required to walk in a dark room and to step over an obstacle edged with a special tape visible in the dark. The obstacle's dimensions were manipulated one step before obstacle clearance by increasing...

[Purpose] This study evaluated the effects of water and land-based obstacle training on static balance of chronic stroke patients. [Subjects] The subjects were randomly allocated to an aqua group (n=15) and a land group (n=15). [Methods] Both groups trained for 40 minutes, 3 times a week for 12 weeks. Static balance was assessed by measuring the mean velocities of mediolateral (ML) and anteropo...

In urban environments, the vehicle encounters a wide variety of static and moving obstacles. Obstacles as small as a curb may trip a fast-moving vehicle, so detecting small objects is of great importance. Overhangs and trees may look large obstacles at a distance, but traveling underneath is often possible. Thus, obstacle detection must consider the 3D geometry of the world. Figure 1 depicts a ...

Small unmanned air vehicles are limited in sensor weight and power such that detection and avoidance of unknown obstacles during flight is difficult. This paper presents a low power low weight method of detection using a laser range finder. In addition, a rapidly-exploring random tree algorithm to generate waypoint paths around obstacles known a priori is presented, and a dynamic geometric algo...

Locomotion generates a visual movement pattern characterized as optic flow. To explore how the locomotor adjustments are affected by this pattern, an experimental paradigm was developed to eliminate optic flow during obstacle avoidance. The aim was to investigate the contribution of optic flow in obstacle avoidance by using a stroboscopic lamp. Ten young adults walked on an 8m pathway and stepp...

Manipulator control based on the artificial potential fields method has been shown to be a good solution for real-time obstacle avoidance and navigation in complex, dynamic environments. This paper presents an implementation of this approach for a Mitsubishi RV-6S industrial robot with an emphasis on the use for obstacle avoidance. The robot is able to perform simple navigation tasks while avoi...

We consider robot navigation in environments consisting of a known static map, but where dynamic obstacles of varying and unknown lifespans appear and disappear over time. We describe a roadmap-based formulation of the problem that takes the sensing and transition uncertainty into account, and an efficient online planner for this problem. The planner naturally displays behaviors such as persist...

This paper presents an algorithm for real-time vision based autonomous navigation for mobile ground robots in an unstructured static environment. The obstacle detection is based on Canny edge detection and a suite of algorithms for extracting the location of all obstacles in robot’s current view. In order to avoid obstacles we designed a reasoning process that successively builds an environment...