The autonomous mobile robot must be capable of avoiding static and dynamic obstacles in the environment navigating towards target without any human effort. A valid low-cost path from start to goal is obtained by A* algorithm. Neural network used for Zone classification. relative values between obstacle are classification which distance, velocity, angle. Zone1 very dangerous while zone 5 not dan...

Industrial robot based production and assembly automation increases the throughput of a company but on the other hand enhances the need for robot intelligence in terms of decision making in collisions scenarios. A robot manipulator, working at the industrial facility, should be able to predict potential collisions and automatically prevent them with a safe detour around the obstacle/human. Indu...

We present a simple algorithm to check for path non-existence for a robot among static obstacles. Our algorithm is based on adaptive cell decomposition of configuration space or C-space. We use two basic queries: free cell query, which checks whether a cell in C-space lies entirely inside the free space, and C-obstacle cell query, which checks whether a cell lies entirely inside the C-obstacle ...

This paper presents a representation of static and moving obstacles, using Velocity Obstacles (VO), for on-line planning in dynamic environments. Each obstacle is mapped to forbidden states by selecting a proper time horizon for the velocity obstacle. The proper choice of the time horizon ensures that the boundary of the mapped obstacle overlaps with the boundary of the set of inevitable collis...

This paper deals with the navigation of a multirobot system (MRS). The latter must reach and maintain a specific formation in dynamic environment. In such areas, the collision avoidance between the robots themselves and with other obstacles (static and dynamic) is a challenging issue. To deal with it, a reactive and a distributed control architecture is proposed. The navigation in formation of ...

This study investigated the relationship of required coefficient of friction to gait speed, obstacle height, and turning strategy as participants walked around obstacles of various heights. Ten healthy, young adults performed 90° turns around corner pylons of four different heights at their self selected normal, slow, and fast walking speeds using both step and spin turning strategies. Kinetic ...

Environment understanding technology is vital for intelligent vehicles that are expected to automatically respond to fast changing environment and dangerous situations. To obtain perception abilities, it is expected to automatically detect static and dynamic obstacles, and estimate their related information. Conventional methods independently detect individual piece of overall information. Each...

The problem of path planning deals with the computation of an optimal path of the robot, from source to destination, such that it does not collide with any obstacle on its path. In this paper we solve the problem of path planning separately in two hierarchies. The coarser hierarchy finds the path in a static environment consisting of the entire robotic map. The resolution of the map is reduced ...