Safe and optimal path planning in a cluttered changing environment for agents’ movement is an area of research, which needs further investigations. The existing methods are able to generated secure trajectories, but they are not efficient enough to learn from their mistakes, especially when dynamics of the environment are concerned. This paper presents an advanced version of the Ant-Air algorit...

We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well kno...

The objective of this paper is to describe the design and implementation of a small semiautonomous fixed-wing unmanned air vehicle. In particular we describe the hardware and software architectures used in the design. We also describe a low weight, low cost autopilot developed at Brigham Young University and the algorithms associated with the autopilot. Novel PDA and voice interfaces to the UAV...

The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning method. Our method combines an incremental construction of the Delaunay triangulation, volumetric collision-detection module, and a modified Fast Marching Method to compute a converging sequence of feedback functions....

The control system of a mobile robot generally comprises two different modules: a trajectory planner and a trajectory tracking controller, although some researchers have proposed algorithms that integrate both tasks. To completely solve the trajectory planning problem is to define an open-loop path and its velocity profile from an initial to a final posture, while avoiding any potential obstacl...

This paper provides a practical framework for planning and control of formations of multiple unmanned ground vehicles to traverse between goal points in a dynamic environment. This framework allows on-line planning of the formation paths using search algorithm based on the current sensor data. The formation is allowed to dynamically change in order to avoid obstacles in the environment while mi...

This paper provides a practical framework for planning and control of formations of multiple unmanned ground vehicles with trailers to traverse between goal points in a dynamic environment. This framework allows on-line planning of the formation paths using A* search algorithm based on the current sensor data. The formation is allowed to dynamically change in order to avoid obstacles in the env...

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 path 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 wheel...

A method for obtaining coordinated motion plans of robot manipulators is presented. A decoupled planning approach has been used; that is, the problem has been decomposed into two subproblems: path planning, where a collision-free path is found for each robot independently only considering fixed obstacles, and trajectory planning, where the paths are timed and synchronized to avoid collisions wi...

Path planning of mobile robot in dynamic environment is one of the most challenging issues. To be more specific, path planning in multi-obstacle avoidance environment is defined as: given a vehicle A and a target G that are moving, planning a trajectory that will allow the vehicle to catch the target satisfy some specified constrains while avoiding obstacle O, and each of the obstacles can be e...