相关论文: Hybrid A* Path Planning with Multi-Modal Motion Ex…

This paper addresses motion planning and con- trol of an overactuated 4-wheel drive train with independent steering (4WIS) where mechanical constraints prevent the wheels from executing full 360-degree rotations (swerve). The configuration…

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…

Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently…

In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate 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…

This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes…

Hybrid driving-stepping locomotion is an effective approach for navigating in a variety of environments. Long, sufficiently even distances can be quickly covered by driving while obstacles can be overcome by stepping. Our quadruped robot…

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,…

Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…

Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…

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…

This paper presents a hybrid motion planning strategy that combines a deep generative network with a conventional motion planning method. Existing planning methods such as A* and Hybrid A* are widely used in path planning tasks because of…

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…

In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of…

High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…

Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…

This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot, designed for Mars and rescue missions. The research enables the robot to autonomously select its locomotion mode and path in complex terrains. Focusing on…