!llis paper presents a new approach for rot)ot ]notion planning in dynamic environments, based on the concept of Velocity Obstacle. ,4 velocity obstacle defines the set of robot velocities that would result in a collision between tlie robot and an obstacle moving at a given velocity. The avoidance maneuver a{ a specific time is thus computed by selecting robot’s velocities out of that set. ~’ll...

This paper describes a novel reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment. This approach is developed based on the “situated-activity paradigm” and a “divide and conquer” strategy which steers the robot to move among unknown obstacles and towards a target without collision. The proposed approach entitled the Virtual Semi-Circles (VSC). The ...

Gait variability may serve as a sensitive and clinically relevant parameter to quantify adjustments in walking and the changes with aging and neurological disease. Variability of steps preceding obstacle avoidance (approach phase) are important for efficiency in the task, especially in people with Parkinson's disease (PD). However, variability of gait during the approach phase to obstacle avoid...

This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-bas...

A path-planning method based on a combination of the static global and the dynamic local pathplanning methods is proposed for robot path planning under a complex environment. There are known static obstacles and unknown dynamic obstacles in any complex environment. The local-path planner dynamically generates a local path using obstacle-motion prediction and a rolling window for dynamic path pl...