Related papers: Optimization of dynamic mobile robot path planning…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Path planners based on basic rapidly-exploring random trees (RRTs) are quick and efficient, and thus favourable for real-time robot path planning, but are almost-surely suboptimal. In contrast, the optimal RRT (RRT*) converges to the…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Many real-world phenomena can be modelled as dynamic optimization problems. In such cases, the environment problem changes dynamically and therefore, conventional methods are not capable of dealing with such problems. In this paper, a novel…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
Numerical optimization techniques are widely used in a broad area of science and technology, from finding the minimal energy of systems in Physics or Chemistry to finding optimal routes in logistics or optimal strategies for high speed…
In this paper, how to efficiently find the optimal path in complex warehouse layout and make real-time decision is a key problem. This paper proposes a new method of Proximal Policy Optimization (PPO) and Dijkstra's algorithm, Proximal…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Offline procedures for estimating parameters of robot dynamics are practically based on the parameterized inverse dynamic model. In this paper, we present a novel approach to parameter estimation of robot dynamics which removes the…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
Transport processes are universal in real-world complex networks, such as communication and transportation networks. As the increase of the traffic in these complex networks, problems like traffic congestion and transport delay are becoming…
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…
Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…
Swarm Intelligence is a metaheuristic optimization approach that has become very predominant over the last few decades. These algorithms are inspired by animals' physical behaviors and their evolutionary perceptions. The simplicity of these…