In this paper, a model of self-organizing spiking neural networks is introduced and applied to mobile robot environment representation and path planning problem. A network of spike-response-model neurons with a recurrent architecture is used to create robot’s internal representation from surrounding environment. The overall activity of network simulates a self-organizing system with unsupervise...

A real time navigating system, called Destination Driven Navigator, is developed. This paper presents a new obstacle representation method named Cross-Line, a new concept “work space” to reduce the robot’s search space and the environment storage cost, an Adapted Regression Model to predict the dynamic obstacles’ motion, and the Multi-State Path Repair rules to quickly translate an infeasible p...

An important issue when planning the tasks that a mobile robot has to reach is the path that it has to follow. In that sense, classical path planning algorithms focus on minimizing the total distance, generally assuming a flat terrain. Newer approaches also include traversability cost maps to define the terrain characteristics. However, this approach may generate unsafe paths in realistic envir...

The paper presents an algorithm for planning the path of a mobile robot in a labyrinth. The algorithm uses an image, obtained by a camera. The algorithm processes the image to convert it into a matrix, presenting the labyrinth with obstacles and walls. Afterwards the algorithm finds the shortest path to a final target in the labyrinth. As opposed to the classical Dijkstra’s algorithm, the prese...

Two major functions in navigation are path planning and obstacle avoidance. A path planner such as the wavefront propagation algorithm can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper reports the approach and results in implementing an autono...

Path planning is indispensable in performing the inspection task using continuum robot in the environment like aircraft fuel tank. In order to obtain the optimal path and make it feasible for the robot traversal, a path planning strategy based on region division is put forward. The aircraft fuel tank is divided into several regions and mapped to a two-dimension plane by using dimension reductio...

Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Par...

Preliminary notes The paper discusses the problem of effective motion planning for industrial robots. The first part deals with current method for off-line path planning. In the second part is presented the work done with one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this s...

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized ...

In this paper, we study the structure and computational complexity of optimal multi-robot path planning problems on graphs. Our results encompass three formulations of the discrete multi-robot path planning problem, including a variant that allows synchronous rotations of robots along fully occupied, disjoint cycles on the graph. Allowing rotation of robots provides a more natural model for mul...