In this paper, we propose a new method for real time obstacle avoidance using visual information. It is based on our on-going research on vector fields and potential functions associated to successful motion planning algorithms. Specifically, this paper addresses the avoidance of dynamic obstacles, which have the property of producing instabilities in the navigation vector field associated to a...

When moving through cluttered environments we use different forms of the same source of information to avoid stationary and moving objects. A stationary obstacle can be avoided by looking at it, registering the differential parallactic displacements on the retina around it during pursuit fixation, and then acting on that information. Such information also specifies one's general heading. A movi...

A vision-based fuzzy obstacle avoidance method is designed and implemented on a humanoid robot so that it can avoid obstacles successfully and arrive at the terminal area effectively. A humanoid robot with 23 degrees of freedom is implemented so that it can execute six basic walking motions. One vision system and one electronic compass are installed on the robot to obtain the environment inform...

The detection of motion and moving objects or persons with stationary monocular cameras has been extensively studied. However, those techniques fail if the camera is moving itself. In this paper, we present a method for detecting and estimating the position of moving objects using a monocular camera that is mounted in front of a mobile robot platform. The position estimates are used for obstacl...

In this paper, the researchers have made an attempt to address the problem of traffic network congestion to speed up the disaster response activity during a disaster. A dynamic environment is made up of static and moving obstacles. Each moving vehicle acts as a dynamic obstacle for other moving vehicle. There by increasing the network congestion. It is shown that the game theoretic model effect...

In the near future mobile robots, such as personal robots or mobile manipulators, will share the workspace with other robots and humans. We present a method for mission and motion planning that applies to small teams of robots performing a task in an environment with moving obstacles, such as humans. Given a mission specification written in linear temporal logic, such as patrolling a set of Jav...

We consider minimal time problems governed by nonlinear systems under general time dependent state constraints and in the twoplayer games setting. In general, it is known that the characterization of the minimal time function, as well as the study of its regularity properties, is a difficult task in particular when no controllability assumption is made. In addition to these difficulties, we are...

This paper describes a motion planning method for mobile robot which considers the path ambiguity of moving obstacles. Each moving obstacle has a set of paths and their probabilities. The robot selects the motion which minimizes the expected time to reach its destination, by recursively predicting future states of each obstacle and then selecting the best motion for them. To calculate the motio...

A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logi...

An algorithm for scheduling the trajectory of a point object, which moves on a plane surface comprising a set of moving obstacles, is introduced. Different quantitative criteria may be met by the schedule, e.g., the course connecting two individual locations being the shortest in length, the least expensive, the fastest as regard to its duration, etc. A prototype system that implements the algo...