Identifying collision-free trajectories in environments with dynamic obstacles is a significant challenge. However, many pertinent problems occur in dynamic environments, e.g., flight coordination, satellite navigation, autonomous driving, and household robotics. Stochastic reachable (SR) sets assure collision-free trajectories with a certain likelihood in dynamic environments, but are infeasib...

This paper presents a system that detects unexpected moving obstacles that appear in the path of a navigating robot, and estimates the relative motion of the object with respect to the robot. The system is designed for a robot navigating in a structured environment with a single wide-angle camera. The objective of the system is to detect moving obstacles in order to gradually stop the robot to ...

W e present a motion planning/control system that deals with moving obstacles whose trajectories are not known a priori. A n artificial potential field planner i s tightly coupled with a robust inverse dynamic controller, allowing the robot t o avoid obstacles in realtime while retaining the benefits of inverse dynamic control. Our implementation of the artificial potential field planner uses d...

In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination. The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera...