This paper presents a path planning algorithm for an articulated planar robot with a static obstacle. The algorithm selects a robot part, finds a path to its goal configuration by systematic configuration space search, drags the entire robot along the path using compliant motion, and repeats the cycle until every robot part reaches its goal. The planner is tested on 11,000 random problems, whic...

Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generatlization of ...

This article describes the use of predictive control for the control of an unmanned aerial vehicle in an unfamiliar three-dimensional environment. The vehicle must reach fixed targets at known positions while avoiding ellipsoid static obstacles that are detected on the way. For obstacle avoidance, constraints are implemented such that the predicted future UAV path does not intersect with the ob...

This paper tackles the regulation problem of wheeled mobile robot (WMR) by using the nonlinear model predictive control (NMPC) in polar coordination framework. The terminal state penalty, terminal state constraints, and the input saturation constraints are taken into consideration in this optimization problem to guarantee the closed-loop regulation performance and stability. Furthermore, we imp...

We present a complete path planning algorithm for a plane robot with three degrees of freedom and a static obstacle. The part boundaries consist of n linear and circular edges. The algorithm constructs and searches a combinatorial representation of the robot free space. Its computational complexity is O((n +c3) log n) with c3 ∈ O(n) the number of configurations with three simultaneous contacts ...

Simulation system is charged with the strategy validation and dual team meets, and as the 2dimensional simulation platform for underwater robotic fish game, URWPGSim2D is the assigned platform for Chinese underwater robot contest and Robot cup underwater program. By now on URWPGSim2D, there is only static obstacles, thus short of changeableness. In order to improve the changeableness and innova...

We consider robot navigation in environments given a known static map, but where dynamic obstacles of varying and unknown lifespans appear and disappear over time. We describe a roadmap-based formulation of the problem that takes the sensing and transition uncertainty into account, and an efficient online planner for this problem. The planner displays behaviors such as persistence and obstacle ...

RoboCup soccer is still host to frequent collisions between robots that lead to unsavory gameplan that is typically not allowed in human soccer. In the Standard Platform league where ultrasonic sensors are employed, these collisions are forbidden, but there is still leniency in the Humanoid League. Additionally, advanced behaviors, such as dribbling, require robust obstacle avoidance strategies...