This master’s project addresses the obstacle avoidance problem in difficult scenarios in three-dimensional workspaces. The main contribution of this project is the theoretical extension of the ObstacleRestriction Method (ORM) in two dimensions to work in 3D workspaces. This master’s thesis describes a reactive obstacle avoidance technique to drive a robot in dense, cluttered and complex environ...

Obstacle Detection is a quite important problem in the field of image processing. Various algorithms have been introduced to solve this problem with different environment. This paper proposes procedure to detect any obstacle in the textural path on the basis of some learning techniques. These learning techniques makes easy to detect any obstacle in Textural path. In this paper we have divided a...

Many conventional methods employed in the assessment of balance and mobility in the elderly are expensive, difficult to administer, rely heavily on complex technology, or provide limited functional information so essential to the planning and implementation of rehabilitation interventions. The author has developed a functionally oriented obstacle course for use in the rehabilitation setting, to...

This paper presents an human detection algorithm and an obstacle avoidance algorithm for a service robot that provides a service tracking. The mobile robot will have the ability to follow a human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by an Image processing, we defined features of the human body in xml file and employed a support vector ...

In this paper, an algorithm for obstacle detection in agricultural fields is presented. The algorithm is based on an existing deep convolutional neural net, which is fine-tuned for detection of a specific obstacle. In ISO/DIS 18497, which is an emerging standard for safety of highly automated machinery in agriculture, a barrel-shaped obstacle is defined as the obstacle which should be robustly ...

This study aims to investigate the effects of shoe traction and obstacle height on lower extremity relative phase dynamics (analysis of intralimb coordination) during walking to better understand the mechanisms employed to avoid slippage following obstacle clearance. Ten participants walked at a self-selected pace during eight conditions: four obstacle heights (0%, 10%, 20%, and 40% of limb len...

In this paper, we study grid-obstacle representations of graphs where we assign grid-points to vertices and define obstacles such that an edge exists if and only if an xy-monotone grid path connects the two endpoints without hitting an obstacle or another vertex. It was previously argued that all planar graphs have a grid-obstacle representation in 2D, and all graphs have a grid-obstacle repres...

Multitasking situations exacerbate gait impairments and increase the risk of falling among people with Parkinson disease (PD). This study compared obstacle negotiation among 10 subjects with PD and 10 nonparkinsonian control (CTRL) subjects in two test conditions differentiated by the presence of music played through a personal music player. Subjects walked the length of a 10 m walkway at a sel...

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obsta...

This paper suggests and supports a design idea for improving dynamical navigation: adding an intermediary, adaptive obstacle representation level between perception and repeller representations. We illustrate our idea with our specific example of an adaptive obstacle representation level, which cleanly integrates into multiple existing navigation systems, treating each perceived obstacle entity...