This paper describes a motion planning method for mobile robot which considers the path ambiguity of moving obstacles. Each moving obstacle has a set of paths and their probabilities. The robot selects the motion which minimizes the expected time to reach its destination, by recursively predicting future states of each obstacle and then selecting the best motion for them. To calculate the motio...

This paper presents an eecient and robust geometric algorithm that classiies and detects all possible types of torus/sphere intersections, including all degenerate conic sections (circles) and singular intersections. Given a torus and a sphere, we treat one surface as an obstacle and the other surface as the envelope surface of a moving ball. In this case, the Connguration space (C-space) obsta...

This paper presents an efficient and robust geometric algorithm that classifies and detects all possible types of torus/sphere intersections, including all degenerate conic sections (circles) and singular intersections. Given a torus and a sphere, we treat one surface as an obstacle and the other surface as the envelope surface of a moving ball. In this case, the Configuration space (C-space) o...

Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two-dimensional vector field. The metho...

In this paper we describe two recent approaches for the Lp-theory of the Navier-Stokes flow in the exterior of a moving or rotating obstacle.

In this work, it is proposed a new family of potentials for path planning algorithms, one kind to the goal and other to the obstacles. With these new potentials it is possible to parameterize the potential scale length and strength easily, providing better control over the moving object path characteristics. In this way, the path problem can be treated analytically. For example, the minimum dis...

The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avo...

The aim of this research is to design and implement line-tracking mobile robot. The robot must follow a line drawn on the floor with different color, avoids hitting moving object like another moving robot or walking people and achieves color sensing. The control system reacts by controlling each of the motors to keep the tracking sensor over the middle of the line. Proximity sensors used to avo...