Introduction Planning collision-free paths is one of the basic skills for a mobile robot performing a goal-oriented task. Especially in highly dynamic environments such as robot soccer there is a need for smooth navigation avoiding the cooperating and competing players. Today, robots in RoboCup [5] are moving at speeds of up to 3 m/s. Navigation thus requires real time path planning considering...

A number of people have been studying methods for realizing autonomous robots with the capability of perception-planning-execution in a real world. In most system, the computer directs attention serially to each feature in the environment by moving a couple of cameras as human eye balls. We, however, consider it is much easier to build the robot vision with an architecture different from the hu...

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algori...

In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. ...

Throughout the world, researchers are improving robots to enable them to do more complex tasks with less human intervention. One aspect of this research is the complex path-planning problem. Path planning derives collisionfree paths to enable robot manipulators to move from one location to another. Collision detection is straightforward using geometry, and moving a manipulator in an environment...

The reactive and diffusive dynamics of a single chemically powered Janusmotor in a crowded medium of moving but passive obstacles is investigated using molecular simulation. It is found that the reaction rate of the catalytic motor reaction decreases in a crowded medium as the volume fraction of obstacles increases as a result of a reduction in the Smoluchowski diffusion-controlled reaction rat...

We analyze the trajectory of suspended spherical particles moving through a square array of obstacles, in the deterministic limit and at zero Reynolds number. We show that in the dilute approximation of widely separated obstacles, the average motion of the particles is equivalent to the trajectory followed by a point particle moving through an array of obstacles with an effective radius. The ef...

In this paper we present an extension to Vision Based LRTA* (VLRTA*) known as Vision Based Moving Target Search (VMTS) for capturing unknown moving target in unknown territory with randomly generated obstacles. Target position is unknown to the agents and they cannot predict its position using any probability method. Agents have omni directional vision but can see in one direction at some point...

In this paper, we intend to focus on the sensor network applications in firefighting. A distributed algorithm is developed for the sensor network to guide firefighters through a burning area. The sensor network models the danger of the area under coverage as obstacles, and has the property to adapt itself against possible changes. The protocol developed, will integrate the artificial potential ...