this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

Unmanned surface vehicle (USV) path planning is a crucial technology for achieving USV autonomous navigation. Under global planning, dynamic local obstacle avoidance has become the primary focus safe In this study, method based on enhanced velocity proposed in order to achieve replanning. Through further analysis of obstacles, geometric model set conventional was redefined. A special triangular...

On a first view complex machines with many degrees of freedom seem to need a complex control structure. Articles about the architecture of the controllers of walking machines, which probably belong to this category, often confirm this prejudice [8, 3]. Using evolutionary techniques to obtain small neural controllers seems much more promising [5, 4, 1, 2]. In the following article we present a m...

Recently, automatic steering systems for emergency obstacle avoidance have been studied extensively. The control input of such active steering control systems can be classified into the steering angle and the steering torque input. The steering torque based control provides some degree of freedom for drivers to control the vehicle motion, thus it has potential for development as steering assist...

Obstacle avoidance is one of the most critical factors in the design of autonomous vehicles such as mobile robots. One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable obstacle avoidance. Obstacle avoidance may be divided into two parts, obstacle detection and avoidance control. Numerous methods for obstacle avoidance have been sugge...

Autonomous exploration and search have important applications in robotics. One interesting application is cooperative control of mobile robotic/sensor networks to achieve uniform coverage of a domain. Ergodic coverage is one solution for this problem in which control laws for the agents are derived so that the agents uniformly cover a target area while maintaining coordination with each other. ...

We present a complete system for obstacle avoidance for a mobile robot. It was used in the RoboCup 2003 obstacle avoidance challenge in the Sony Four Legged League. The system enables the robot to detect unknown obstacles and reliably avoid them while advancing toward a target. It uses monocular vision data with a limited field of view. Obstacles are detected on a level surface of known color(s...