相关论文: Path Planning Algorithms for a Car-Like Robot visi…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
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…
Two multivehicle routing problems are considered in the framework that a visit to a location must take place during a specific time window in order to be counted and all time windows are the same length. In the first problem, the goal is to…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
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,…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is limited by a budget that can be restored…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
The subpath planning problem is a branch of the path planning problem, which has widespread applications in automated manufacturing process as well as vehicle and robot navigation. This problem is to find the shortest path or tour subject…
This paper is concerned with characterizing the shortest path of a Dubins vehicle from a position with a prescribed heading angle to a target circle with the final heading tangential to the target circle. Such a shortest path is of…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…