This paper presents the design and implementation of a driverless car for populated urban environments. We propose a system that explicitly map the static obstacles, detects and track the moving obstacle, consider the unobserved areas, provide a motion plan with safety guarantees and executes it. All of it was implemented and integrated into a single computer maneuvering on real time an electri...

A quasi-static contact problem is considered for a non-linear elastic system with finitely many degrees of freedom. Coulomb’s law is used to model friction and the friction coefficient may be anisotropic and may vary along the surface of the rigid obstacle. Existence is established following a time-incremental minimization problem. Friction is artificially decreased to resolve the discontinuity...

For the static contact problem with limited interpenetration with the obstacle the existence of solutions is proved. The frictionless case is studied at first, then the problem with Coulomb friction is investigated as well. The body has nowhere a Dirichlet boundary value condition prescribed. In both cases, if the prescribed bound of the interpenetratiom tends to 0, the solutions tend to a solu...

This paper studies the problem of target control and how a virtual ellipsoid can avoid static obstacle. During motion to set, achieve under collision avoidance by keeping distance between We present solutions this in class closed-loop (feedback) controls based on Hamilton–Jacobi–Bellman (HJB) equation. Simulation results verify validity effectiveness our algorithm.

Abstract Over the recent years, there has been an increasing interest in autonomous systems. Consequently, problem of avoiding static and dynamic obstacles without human interference gained a lot attention. Avoiding collision, even completely environments, is significantly more challenging when vehicle subject to nonholonomic constraints. This paper presents reactive algorithm for collision avo...

This paper addresses the problem of numerically finding an optimal path for a robot with non-holonomic constraints. A car like robot, whose turning radius is lower bounded i s considered as an example, where the arc length and the change in steering angle are optimized. The car like robot is kinematically constrained and i s modelled as a 2 D object translating and rotating in the horizontal pl...

In this paper we propose a new path planning method for a robot manipulator in a cluttered static environment, based on lazy grid sampling. Grid cells are built while searching for the path to the goal configuration. The proposed planner acts in two modes. A depth mode while the robot is far from obstacles makes it evolve toward its goal. Then a width search mode becomes active when the robot g...

We describe a behavior-based control system that enables a non-holonomic robot to push an object from an arbitrary starting position to a goal location through an obstacle eld. The approach avoids the need for maintaining an internal model of the target and obstacles and the potentially high computational overhead associated with traditional path planning approaches for non-holonomic robots. Th...

This paper proposes a method to deal with holes healing problems in wireless hybrid sensor networks. With recent advances in mobile platforms, hybrid sensor networks including static and mobile sensors are becoming very popular technology. In this paper, we investigate the coverage hole healing efficiency and propose a method to improve the efficiency. Specifically, mobile sensors can dynamical...

path planning and obstacle avoidance 1 R. Glasius A. Komoda S. Gielen Department of Medical Physics and Biophysics, University of Nijmegen, Geert Grooteplein Noord 21, 6525 EZ Nijmegen, The Netherlands, Abstract A model of a topologically organized neural network of a Hop eld type with nonlinear analog neurons is shown to be very e ective for path planning and obstacle avoidance. This determini...