相关论文: Enhanced $A^{*}$ Algorithm for Mobile Robot Path P…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstacles (e.g., pallets or containers) and narrow corridors.…
For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints become unreliable or slow-down for kinematically constrained…
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,…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Path planning for a nonholonomic mobile robot is a challenging problem. This paper proposes a novel space adaptive search (SAS) approach that greatly reduces the computation cost of nonholonomic mobile robot path planning. The classic…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
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…
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,…
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
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,…
This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…