Related papers: Potential Field-based Path Planning with Interacti…
Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…
Collision avoidance (CA) has always been the foremost task for autonomous vehicles (AVs) under safety criteria. And path planning is directly responsible for generating a safe path to accomplish CA while satisfying other commands. Due to…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
Autonomous driving has garnered significant attention for its potential to improve safety, traffic efficiency, and user convenience. However, the dynamic and complex nature of interactive driving poses significant challenges, including the…
The Potential Field (PF)-based path planning method is widely adopted for autonomous vehicles (AVs) due to its real-time efficiency and simplicity. PF often creates a rigid road boundary, and while this ensures that the ego vehicle…
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…
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…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This paper proposes a unified decision making and local trajectory planning framework based on Time-Varying Artificial Potential Fields (TVAPFs). The TVAPF explicitly models the predicted motion via bounded uncertainty of dynamic obstacles…
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision…
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…
Robotic trajectory planning in dynamic and cluttered environments remains a critical challenge, particularly when striving for both time efficiency and motion smoothness under actuation constraints. Traditional path planner, such as…
Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it is impractical for autonomous vehicles~(AVs) to exhaustively…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…
Making safe and successful lane changes (LCs) is one of the many vitally important functions of autonomous vehicles (AVs) that are needed to ensure safe driving on expressways. Recently, the simplicity and real-time performance of the…
Full drive-by-wire electric vehicles (FDWEV) with X-by-wire technology can achieve independent driving, braking, and steering of each wheel, providing a good application platform for autonomous driving technology. Path planning and tracking…
With the fast development of driving automation technologies, user psychological acceptance of driving automation has become one of the major obstacles to the adoption of the driving automation technology. The most basic function of a…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Robotic applications across industries demand advanced navigation for safe and smooth movement. Smooth path planning is crucial for mobile robots to ensure stable and efficient navigation, as it minimizes jerky movements and enhances…