Related papers: Dynamic Path Planning and Replanning for Mobile Ro…
This paper outlines a modification on the Bat Algorithm (BA), a kind of swarm optimization algorithms with for the mobile robot navigation problem in a dynamic environment. The main objectives of this work are to obtain the collision-free,…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
Ray tracing algorithms, that can simulate multipath radio propagation in presence of geometric obstacles such as buildings, objects or vehicles, are becoming quite popular, due to the increasing availability of digital environment databases…
Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Effective path planning is a pivotal challenge across various domains, from robotics to logistics and beyond. This research is centred on the development and evaluation of the Dynamic Curvature-Constrained Path Planning Algorithm (DCCPPA)…
In this paper we propose a new family of RRT based algorithms, named RRT+ , that are able to find faster solutions in high-dimensional configuration spaces compared to other existing RRT variants by finding paths in lower dimensional…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local planning. The approach targets a three-wheeled cycle rickshaw…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been…
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…