In order to improve the efficiency and success rate of obstacle avoidance motion planning industrial manipulator in complex multi scenes, a collision detection model between obstacles based on cylinder sphere bounding box is established, an improved RRT * algorithm heuristic probability fusion artificial potential field method(P-artificial , PAPF-RRT ) proposed. The target bias random sampling ...

Space vehicles’ real-time trajectory optimization is the key to future automatic guidance. Still, current sequential convex programming (SCP) method suffers from a low convergence rate and poor performance when dealing with complex obstacle avoidance constraints (OACs). Given above challenges, this work combines homotopy neural network techniques SCP propose an innovative algorithm. Firstly, wa...

The authors investigated the dynamics of steering and obstacle avoidance, with the aim of predicting routes through complex scenes. Participants walked in a virtual environment toward a goal (Experiment 1) and around an obstacle (Experiment 2) whose initial angle and distance varied. Goals and obstacles behave as attractors and repellers of heading, respectively, whose strengths depend on dista...

Currently, in order to avoid obstacle, most robots will choose a new path. This paper proposed a new obstacle avoidance method for biped robots. When lower obstacle exists in the road, we will calculate the obstacle’s three-dimensional information instead of using the traditional method of re-select the path, so that the biped robot will avoid obstacles successfully by crossing the obstacle. In...

The aim of the present work is to propose an experimental method to analyse the effect of obstacle properties on human prehension. We investigated the impact of intrinsic and extrinsic properties of the obstacle on transport and grasp components in the same protocol. For that, different tools are combined to record the movement and obtain a redundancy of information about the upper limb in comp...

BACKGROUND Under carefully controlled conditions, rhythmic auditory cueing can improve gait in patients with Parkinson's disease (PD). In complex environments, attention paid to cueing might adversely affect gait, for example when a simultaneous task-such as avoiding obstacles-has to be executed. We primarily examined whether concurrent auditory cueing interferes with an obstacle avoidance task...

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...

─ In this paper, a simulation analysis of the Null-SpaceBased Behavioral Control (NSB) for mobile robots is presented [1]. The approach divides a complex problem in several simpler tasks (behaviors) which are sorted by priority and combined in such a way that a lower priority task is projected into the null-space (kernel) of the higher priority one. The simulation performed includes: i) a geome...

Antibody  based  methods  have  numerous  advantages  compared  to  other  detection  methods. However, heavy metals cannot stimulate the immune antibody response; it is the main obstacle for preparation of the antibodies that used in detection methods of the metals. The production of the immunogenic Pb complexes by using cost benefit linkers of EDTA and DTPA were investigated in this  study.BS...