Robotic applications are expanding into dynamic, unstructured, and populated environments. Mechanisms specifically designed to address the challenges arising in these environments, such as humanoid robots, exhibit high kinematic complexity. This creates the need for new algorithmic approaches to motion generation, capable of performing task execution and real-time obstacle avoidance in highdime...

in this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. it is assumed that the robot performs navigation in unknown environment and builds the map through slam procedure. since the moving objects' location and properties are unknown, they are identified and tracked by kalman filter. kalm...

This paper describes the development of a practical manipulator system. The manipulator requirements dictated by space exploration, the functional elements which meet those require­ ments, and the problems encountered in imple­ menting those requirements are discussed. The paper focuses primarily on the implemen­ tation of the functional elements and the real world problems encountered by the m...

This paper deals with the driving environment perception of cybercars from a vision system. The planification of the trajectory for an Autonomous Guided Vehicle requires to robustly segment the free space around the vehicle to manage an obstacle avoidance task. Opposite to the highways conditions, the urban environment still remains as the most complex environment due to the static scene can no...

This paper describes a decision theoretic approach to real-time obstacle avoidance and path planning for a mobile robot. The mobile robot navigates in a semistructured environment in which unexpected obstacles may appear at random locations. Twelve sonar sensors are currently used to report the presence and location of the obstacles. To handle the uncertainty of an obstacle’s appearance, we ado...

In this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. It is assumed that the robot performs navigation in...

The talk will present an overview of the results obtained recently in visual control of mobile robots in the Lagadic group at INRIA Rennes-Bretagne Atlantique. A first part will be devoted to the visual navigation of a mobile robot in an urban environment, including obstacle avoidance thanks to the use of a laser range sensor. A second part will be devoted to the visual localization of flying r...

The dynamic window approach is a well known navigation scheme developed by Fox et. al. [1] and extended by Brock and Khatib [2]. It is safe by construction and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorithm’s ...