相关论文: A Cost-Effective Approach to Smooth A* Path Planni…
As the trend of moving away from high-precision maps gradually emerges in the autonomous driving industry,traditional planning algorithms are gradually exposing some problems. To address the high real-time, high precision, and high…
Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or…
As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations,…
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Carpooling has gained considerable importance in developed as well as in developing countries as an effective solution for controlling vehicular pollution, both sound and air. As carpooling decreases the number of vehicles used by…
In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has…
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…
Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…
Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…
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…
Path smoothness is often overlooked in path imitation learning from expert demonstrations. In this paper, we introduce a novel learning method, termed deep angular A* (DAA*), by incorporating the proposed path angular freedom (PAF) into A*…
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…
Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Four-wheel independent steering (4WIS) systems provide mobile robots with a rich set of motion modes, such as Ackermann steering, lateral steering, and parallel movement, offering superior maneuverability in constrained environments.…
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to…