This paper presents a closed-form approach to constrain flow within given volume and around objects. The is guaranteed converge stop at single fixed point. We show that the obstacle avoidance problem can be inverted enforce remains enclosed defined by polygonal surface. formally guarantee such will never contact boundaries of enclosing obstacles, asymptotically towards an attractor. further cre...

A fuzzy approach to collision avoidance for automated guided vehicle (AGV) navigation is proposed. Static obstacles with no a priori position information as well as moving obstacles with unknown trajectories are considered in this study. Intuitive and subjective human ideas of collision avoidance are modeled into fuzzy rules. Fuzzy logic is applied in the inference procedure for AGV navigation,...

The complexity of exact motion planning algorithms highly depends on the complexity of the robot’s free space, i.e., the set of all collision-free placements of the robot. Theoretically, the complexity of the free space can be very high. In practice, the complexity of the free space tends to be much smaller. We show that, under some realistic assumptions, the complexity of the free space of a r...

This report addresses trajectory planning in dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time space ...

This paper proposes a new obstacle avoidance algorithm for the CONTROLAB AGV which uses a similar strategy adopted by a blind person to avoid obstacles while walking. The AGV moves within an office environment with a known floorplan and uses an "electronic stick" consisting of infrared sensors to detect unknown obstacles. Initially a global potential field function is defined for each floorplan...

In virtual environments, navigation is one of the most fundamental tasks that requires timely collision detection and collision avoidance mechanisms [1]. It was shown that when navigation is constrained to moving on a terrain surface, the problem of collision detection can be reduced from 3D to 2D case, by rasterizing all 3D objects that constitute travel obstacles and encoding them into a terr...

We probe C. elegans mechanosensation using a microfabricated platform where worms encounter a linear array of asymmetric funnel-like barriers. We found that sensing of and moving along barriers require different sets of neurons located at different parts of the animal. Wild-type worms sense and move along the barrier walls, leading to their accumulation in one side of the barriers due to the ba...

This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is , k C 1. k ≥ In the process of navigation, the leader c...