We have established a novel method of obstacle-avoidance motion planning for mobile robots in dynamic environments, wherein the obstacles are moving with general velocities and accelerations and their motion profiles are not pre-known. A hybrid system is presented in which a global deliberate approach is applied to determine the motion in the desired path line (DPL), and a local reactive approa...

It has been reported that obstacle avoidance reactions during gait have very short latencies. This raises the question whether the cortex can be involved, as it is in voluntary reactions. In this study, latencies of obstacle avoidance (OA) reactions were determined and related to latencies of voluntary stride modifications and simple reaction times (SRT) of hand and foot. Twenty-five healthy yo...

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In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots....

Given the a priori knowledge of the environment and the goal position, mobile robot navigation refers to the robot’s ability to safely move towards the goal using its knowledge and the sensorial information of the surrounding environment. Even though there are many different ways to approach navigation, most of them share a set of common components or blocks, among which path planning and obsta...

The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the enroute obstacles, and the appropriate obstacle avoidance strategies are the key factors to ensure safe navigation tasks in dynamic environments. The basic requirement for an appropriate obstacle avoidance strategy is to sense or dete...

Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored this article. To address problems, multiple-query and sampling-based replanning algorithm with the bias-goal factor, rapidly exploring random tree (DBG-RRT), proposed to achieve rapid response high success rate. Differently from other studies on path planning, relay-node method adopted basis of gen...

Marine navigation involves problems not found on land. As well as fixed obstacles, there are objects whose positions change frequently. Apart from surface obstacle avoidance, a boat must contend with bathymetric depth, which is affected by sea floor and tidal changes. Maintenance of a dynamic data structure for automatic pilotage is a complex task. The dynamic Voronoi diagram of points and line...