A mobile robot's major purpose is to get its destination by traveling over an optimum path defined various parameters such as time, distance, and the safety from any impediments in path. As a result, backbone of autonomous robot planning obstacle avoidance. Several algorithms for avoidance have been presented researchers, each with own set benefits drawbacks. This paper focuses on two parts; fi...

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide...

Manipulator control based on the artificial potential fields method has been shown to be a good solution for real-time obstacle avoidance and navigation in complex, dynamic environments. This paper presents an implementation of this approach for a Mitsubishi RV-6S industrial robot with an emphasis on the use for obstacle avoidance. The robot is able to perform simple navigation tasks while avoi...

Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generatlization of ...

Un ultimo ringraziamento va a Lui, non si gioca a dadi qui, c'` e il Suo sogno per ognuno di noi, a noi non resta che viverlo.