this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

Control method for moving robotics in closed areas based on creation and sharing maps through shortest path findings and obstacle avoidance is proposed. Through simulation study, a validity of the proposed method is confirmed. Furthermore, the effect of map sharing among robotics is also confirmed together with obstacle avoidance with cameras and ultrasonic sensors. Keywords-domestic robotics; ...

Speed and vibration performance as well as obstacle avoidance performance of the previously proposed Electric Wheel Chair: EWC controlled by human eyes only is conducted. Experimental results show acceptable performances of speed vibration performance as well as obstacle avoidance performance for disabled persons. More importantly, disabled persons are satisfied with the proposed EWC because it...

In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which responds faster to unexpected obstacles. In this approach the depth map is divided into optimized number of regions and the minimum depth at each section is...

In this paper, is presented the design of an algorithm for detection and avoidance of obstacles for Guanay II AUV. The obstacle detection system is based on a sonar and its use guarantees the safe navigation of AUV. The strategy of obstacle avoidance is performed based on Fuzzy reactive architecture for different forward speeds of the vehicle. Simulation results obtained by developing the algor...

Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without de...

Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulati...

Autonomous exploration and search have important applications in robotics. One interesting application is cooperative control of mobile robotic/sensor networks to achieve uniform coverage of a domain. Ergodic coverage is one solution for this problem in which control laws for the agents are derived so that the agents uniformly cover a target area while maintaining coordination with each other. ...

The integration of Unmanned Aerial Vehicles (UAVs) requires new methods to certify collision avoidance systems. This paper presents a safety clearance process for obstacle avoidance systems where worst case analysis is performed using optimization based approaches under all possible parameter variations. The clearance criterion for the UAV obstacle avoidance system is defined as the minimum dis...

It is necessary for a biped robot to recognize a surrounding environment when moving to the destination. This paper presents a method for path planning and obstacle avoidance for the biped robot. In our approach, the robot obtains color information and distance information of objects from images captured by a stereo camera system. Then, the robot generates a 2D grid map which locates floor regi...