In this paper, we address the issues related to navigation and control of a mobile robot which enable it to deal with unexpected moving obstacles by sensor-based control. We propose a probabilistic approach to deal with collision avoidance under uncertainty. We assume that the uncertainties both in the position of a moving obstacle and the error of the measurements is normally distributed. The ...

|This paper deals with trajectory planning for a mobile A which is subject to constraints on its velocity and acceleration and travels in a structured workspace W amidst xed and moving obstacles. By structured workspace, we mean that there exist lanes within which A is able to move without colliding with the xed obstacles of W. This paper presents an eecient method which determines an approxima...

This paper investigates the computational complexity of planning the motion of a body B in 2{D or 3{D space, so as to avoid collision with moving obstacles of known, easily computed, trajectories. Dynamic movement problems are of fundamental importance to robotics, but their computational complexity has not previously been investigated. We provide evidence that the 3-D dynamic movement problem ...

A shortest path algorithm for motion planning problem via mathematical morphology is proposed. The moving object and obstacles can be of arbitrary shapes of finite size. To speed up the computation of the free positions of a moving object, the idea of shape decomposition is developed. It is proven that the decomposition always reduces the number of iterations. In addition, a simple geometric al...

Numerous path planning solutions have been proposed to solve the navigation problem in static environments, potentially populated with dynamic obstacles. However, in dynamic environments, moving objects can be used to reach new locations. In this paper, we propose an online planning algorithm for dynamically changing environments with unknown evolution. This method focuses on accessibility and ...

We describe simple heuristics, based on perceptual variables, that produce human-like trajectories towards moving and stationary targets, and around moving and stationary obstacles. Interception of moving and stationary objects can be achieved through regulation of self-movement to maintain a target at a constant eccentricity, or by cancelling the change (drift) in the eccentricity of the targe...

Enabling a digital actor to move autonomously in a virtual environment is a challenging problem that has attracted much attention in recent years. The systems proposed in several researches have been able to plan the walking motions of a humanoid on an uneven terrain. In this paper, we aim to design a planning system that can generate various types of motions for a humanoid with a unified plann...

Numerous path planning solutions have been proposed to solve the navigation problem in static environments, potentially populated with dynamic obstacles. However, in dynamic environments, moving objects can be used to reach new locations. In this paper, we propose an online planning algorithm for unknown dynamic environments that focuses on accessibility and on the use of objects movements to r...

In this work, it is proposed a new family of potentials for path planning algorithms, one kind to the goal and other to the obstacles. With these new potentials it is possible to parameterize the potential scale length and strength easily, providing better control over the moving object path characteristics. In this way, the path problem can be treated analytically. For example, the minimum dis...

A reactive navigation system for an autonomous mobile robot in unstructured dynamic environments is presented. The motion of moving obstacles is estimated for robot motion planning and obstacle avoidance. A multisensor-based obstacle predictor is utilized to obtain obstacle-motion information. Sensory data from a CCD camera and multiple ultrasonic range finders are combined to predict obstacle ...