Related papers: Multi-objective path planning of an autonomous mob…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
In multi UAV scenarios,the traditional Artificial Potential Field (APF) method often leads to redundant flight paths and frequent abrupt heading changes due to unreasonable obstacle avoidance path planning,and is highly prone to inter UAV…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
Real-time trajectory planning for unmanned aerial vehicles (UAVs) in dynamic environments remains a key challenge due to high computational demands and the need for fast, adaptive responses. Traditional Particle Swarm Optimization (PSO)…
Many path-finding algorithms on graphs such as A* are sped up by using a heuristic function that gives lower bounds on the cost to reach the goal. Aiming to apply similar techniques to speed up sampling-based motion-planning algorithms, we…
Particle Swarm Optimization (PSO) has demonstrated efficacy in addressing static path planning problems. Nevertheless, such application on dynamic scenarios has been severely precluded by PSO's low computational efficiency and premature…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
The multiple-path orienteering problem asks for paths for a team of robots that maximize the total reward collected while satisfying budget constraints on the path length. This problem models many multi-robot routing tasks such as exploring…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
This paper introduces a new path planning algorithm for unmanned aerial vehicles (UAVs) based on the teaching-learning-based optimization (TLBO) technique. We first define an objective function that incorporates requirements on the path…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
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…
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-scale, partially unknown complex environments, a three-layer…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
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…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…