Improved Dynamic Obstacle Mapping (iDOMap)

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide...

Obstacle Detection and Mapping System

Predicted Polar Mapping for Moving Obstacle Detection

This paper presents the predicted polar mapping that is to improve the efficiency of an unexpected moving obstacle detecting system in a single vision-based robot. The polar mapping is used to simplify the segmentation of moving objects from the background and is performed with the focus of expansion (FOE) as the center. When the movement of the robot per a step becomes a bit large, then static...

Thick Obstacle Problems with Dynamic Adhesive Contact

In this work, we consider dynamic frictionless contact with adhesion between a viscoelastic body of the Kelvin-Voigt type and a stationary rigid obstacle, based on the Signorini’s contact conditions. Including the adhesion processes modeled by the bonding field, a new version of energy function is defined. We use the energy function to derive a new form of energy balance which is supported by n...

Dynamic Obstacle Avoidance by Distributed Algorithm based on Reinforcement Learning (RESEARCH NOTE)

In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...