Related papers: Satellite Navigation and Control using Physics-Inf…
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 study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in…
As the demand for transportation through waterways continues to rise, the number of vessels plying the waters has correspondingly increased. This has resulted in a greater number of accidents and collisions between ships, some of which lead…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…
This paper demonstrates the ability of the harmonic potential field, HPF, planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Path planning is a fundamental component in autonomous mobile robotics, enabling a robot to navigate from its current location to a desired goal while avoiding obstacles. Among the various techniques, Artificial Potential Field (APF)…
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…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
This paper extends the capabilities of the harmonic potential field (HPF) approach to planning. The extension covers the situation where the workspace of a robot cannot be segmented into geometrical subregions where each region has an…
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…
This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This paper presents a novel solution to address the challenges in achieving energy efficiency and cooperation for collision avoidance in UAV swarms. The proposed method combines Artificial Potential Field (APF) and Particle Swarm…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or…
An autonomous navigation with proven collision avoidance in unknown and dynamic environments is still a challenge, particularly when there are moving obstacles. A popular approach to collision avoidance in the face of moving obstacles is…
This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…
With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…