Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Fully automatic driving is emerging as the approach to dramatically improve efficiency (throughput per unit of space) while at the same time leading to the goal of zero accidents. This approach, based on fully automated vehicles, might improve the efficiency of road travel in terms of space and energy used, and in terms of service provided as well. For such automated operation, trajectory plann...

This paper is devoted to planning and control of a pattern formation of mobile robots when moving between goal points in a known and static environment. Path planning is performed for a reference point in the formation using the modified A* search, coupled with a proposed smoothing technique to generate a feasible trajectory with nonholonomic constraints of mobile robots taken into account. Bas...

The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed to solve this problem. Firstly, we pa...

In this work, a path planning strategy for both a car-like and a unicycle type assistive vehicles is presented. The assistive vehicles are confined to restricted environments. The path planning strategy uses the environment information to generate a kinematically plausible path to be followed by the vehicle. The environment information is provided by a SLAM (Simultaneous Localization and Mappin...

This paper investigates a novel offline path planner for single point robots in cluttered environments. In order to achieve the best results in building shortest collision free trajectory lengths from initial to the goal configuration, we considered a multi-layer solution in the form of a unique algorithm that works as a unit on workspace elements such as obstacles and determines proper traject...

This paper presents a new algorithm which generates time-optimal trajectories given a path as input. The algorithm improves on previous approaches by generically handling a broader class of constraints on the dynamics. It eliminates the need for heuristics to select trajectory segments that are part of the optimal trajectory through an exhaustive, but efficient search. We also present an algori...

We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of the environment and a statically-stable desired posture, we search the configuration space of the robot for a collision-free path that simultaneously satisfies dynamic balance constraints. We adapt existing randomized ...

An approach to intelligent robot motion planning and tracking in known and static environments is presented in this paper. This complex problem is divided into several simpler problems. The first is generation of a collisionfree path from starting to destination point, which is solved using a particle swarm optimization (PSO) algorithm. The second is interpolation of the obtained collision-free...