相关论文: Proposal of algorithms for navigation and obstacle…

We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and 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…

This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…

Fast and reliable obstacle avoidance is an important task for mobile robots. In this work, we propose an efficient reactive system that provides high-quality obstacle avoidance while running at hundreds of hertz with minimal resource usage.…

Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…

Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…

This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…

This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance…

Legged robots traversing in confined environments could find their only path is blocked by obstacles. In circumstances where the obstacles are movable, a multilegged robot can manipulate the obstacles using its legs to allow it to continue…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…