Navigation and obstacle avoidance are very important issues for the successful use of an autonomous mobile robot. To allow the robot to move between its current and final configurations without any collision within the surrounding environment, motion planning needs much treatment. Thus to generate collision free path it should have proper motion planning as well as obstacle avoidance scheme. Th...

Purpose – This paper aims to provide a simple and cheap calibration method to improve the odometry accuracy and to present an alternative method for the control of the path produced by an already existed path planning method. Design/methodology/approach – Through the integration of systematic odometry errors the robot’s odometry parameters are estimated and through the replacement of a caster w...

All mobile robots share the need to navigate, creating the problem of motion planning. In multi-robot domains with agents acting in parallel, highly complex and unpredictable dynamics can arise. This leads to the need for navigation calculations to be carried out within tight time constraints, so that they can be applied before the dynamics of the environment make the calculated answer obsolete...

The eeect of robot dynamics on autonomous navigation is a key issue in sensor-based motion planning. In most of existing works, the solution is attempted by separating the planning and control into two sequential stages; as a minus, this may, for example, adversely eeect the algorithm convergence. The strategy proposed in this paper solves the problem by combining motion planning and control wi...

If a mobile robot operates within its environment, it should take other persons into account while moving around. This work presents an approach, which predicts the movements of persons in a very simple way, and uses the predicted trajectories to plan a motion path for the robot. The presented motion prediction and planning process is much faster than real time. A potential field is applied to ...

This chapter describes kinodynamic motion planning and its application. Kinodynamics is the discipline that tries to solve kinematic constraints and dynamical constraints simultaneously. By using kinodynamic motion planning, control inputs can be generated in a much simpler way, compared to the conventional motion planning that solves kinematics and dynamics separately. After briefly overviewin...

In this paper, we present a framework for an adaptive and risk-aware robot motion planning and control, and discuss how such a framework could handle uncertainty in human workers’ actions and robot localization. We build on our prior investigation, where we describe how uncertainty in human actions can be modeled using the entropy rate in a Markov Decision Process. We then describe how we can i...

This paper presents some of the recent improvements in sampling-based robot motion planning. Emphasis is placed on work that brings motion-planning algorithms closer to applicability in real environments. Methods that approach increasingly difficult motion planning problems including kinodynamic motion planning and dynamic environments are discussed. The ultimate goal for such methods is to gen...

This paper presents the application of stratified motion planning to the robotic manipulation problem. Although the manipulation problem is a subclass of applications for stratified motion planning, the method present is general in that it is formulation in a manner independent of the object surface geometry or the kinematics of the “fingers” of the robot. The theoretical development of the met...

Achieving eecient data fusion through integration of sensory perception control and sensor fusion .