High capacity wind-turbines are increasingly installed offshore and further away from the coast, where strong foundations required, their installation is challenging. The so-called multi-bucket foundation a promising candidate to be used for such scenarios. However, sinking control technology, which commonly ease installation, not very mature. In this paper, series of theoretical studies tests ...

There were many reports about an obstacle avoidance of a mobile robot. In this paper, we design a fuzzy logic system and propose an obstacle avoidance algorithm for a path planning in unknown environment for a mobile robot. The ultrasonic sensors are employed for detecting the distance to obstacles and their positions. An angular velocity control for left and right wheels is implemented by a fu...

The generation of lump solitons by a three-dimensional bottom topography is numerically investigated by use of a forced Kadomtsev-Petviashvili-I (KP-I) equation. The numerical method is based on the third order Runge-Kutta method and the Crank-Nicolson scheme. The main result is the pairwise periodic generation of two pairs of lump-type solitons downstream of the obstacle. The pair with the sma...

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...

Vision-Based Navigation Techniques can be roughly divided in map-based and mapless systems. Map-based systems plan routes and their performance and are labeled as deliverative, while mapless systems analyze on-line the environment to determine the route to follow (Bonin et al., 2008). Some reactive vision-based systems include the implementation of local occupancy maps that show the presence of...

Autonomous path planning of Micro Air Vehicles(MAVs) in an urban environment is a challenging task because urban environments are dynamic and have variety of obstacles, and the locations of these obstacles may not be available a priori. In this paper we develop a reactive guidance strategy for collision avoidance using bearing-only measurements. The guidance strategy can be used to avoid collis...

Two frameworks based on Model Predictive Control (MPC) for obstacle avoidance with autonomous vehicles are presented. A given trajectory represents the driver intent. An MPC has to safely avoid obstacles on the road while trying to track the desired trajectory by controlling front steering angle and differential braking. We present two different approaches to this problem. The first approach so...

This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive co...

This paper addresses the problem of numerically finding an optimal path for a robot with non-holonomic constraints. A car like robot, whose turning radius is lower bounded i s considered as an example, where the arc length and the change in steering angle are optimized. The car like robot is kinematically constrained and i s modelled as a 2 D object translating and rotating in the horizontal pl...

This work discusses the working principle and mechanical details of a new scanning transducer for angle measurement between IR modulated emitters placed in known positions. The system can be used for position estimation of AGVs inside structured environments. Position is computed by triangulation. The advantage of the proposed transducer is that, having approximately the same accuracy as the co...