In this paper, we present the strategy for trajectory planning that was used on-board the vehicle that completed the 103 km of the Bertha-Benz-Memorial-Route fully autonomously. We suggest a local, continuous method that is derived from a variational formulation. The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comf...

Collision avoidance and multi-agent navigation is an important component of modern video games. Recent developments in commodity hardware, in particular the utilization of multi-core and many-core architectures in personal computers and consoles are allowing large numbers of virtual agents to be incorporated into game levels in increasing numbers. We present the hybrid reciprocal velocity obsta...

This paper deals with motion control of an autonomous mobile robot using an intelligent multi-layer perceptron (MLP) and radial basis function (RBF) neural network based techniques. Obstacle avoidance and target seeking are the two most important behaviors in the proposed research. The ANN based controller is trained using 100 training patterns so that mobile robot moves towards the target with...

In the context of robotic path planning, a common strategy is to assume that the world is static and believed on heuristic approaches and obstacle avoidance to deal with changes in the environment. When planning is not considered for potential changes of the environment into account usually leads to poor performances. In this paper, we propose a hybrid ACO-PSO approach that exploits the travers...

In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360 ∘ camera, LiDAR and radar, while precise localization is available from fused IMU and G...

Industrial inspection robots, which are to move around a nuclear power plant and carry out inspection tasks, must follow a given route while observing static and dynamic features of the environment. The vision system for such a robot needs to execute efficiently and mutually the tasks that are necessary for carrying out inspection reliably and flexibly while safely moving, and the following att...

We describe two algorithms for static path-planning, with the aim of deriving the trajectory that always maximises the distance of the path from the nearest obstacle. The bubble algorithm allocates individual pixels to generating points, growing the area owned by each point at a globally constant rate to ensure that boundaries are equidistant between neighbouring points. The geometric algorithm...

In this article we study a mathematical model which describes the quasi-static process of contact between piezoelectric body with long-term memory and an obstacle. The is modeled normal conformity condition version Coulom's law. evolution temperature described by first kind equation. problem formulated as system scalable elliptical variational inequalities for displacement, equality electrical ...

Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this article proposes a novel autonomous algorithm based on tangent intersection guidance strategy (APPATT). Guided by target, elliptic graph method is used two sub-paths, one of which selected heuristic rules when conf...