In this paper, a "Moving Window" scheme for detecting lanes and obstacles from the images captured by a CCD camera in an automobile is proposed. Processing the input dynamic images in real time requires high performance hardware as well as efficient software. In order to relieve these requirements for detecting lanes and obstacles from the images in real time, a "Moving Window" scheme is propos...

In urban environments, the vehicle encounters a wide variety of static and moving obstacles. Obstacles as small as a curb may trip a fast-moving vehicle, so detecting small objects is of great importance. Overhangs and trees may look large obstacles at a distance, but traveling underneath is often possible. Thus, obstacle detection must consider the 3D geometry of the world. Figure 1 depicts a ...

Tracking moving obstacles from a moving platform is a useful skill for the coming generation of mobile robot. The methods used in existing moving objects tracking that operated from fixed platform and fixed background, are not applicable. Instead, we propose a system that detects unexpected moving obstacles that appear in the path of mobile robot. The system is designed to track and determine t...

This paper presents the design and implementation of a driverless car for populated urban environments. We propose a system that explicitly map the static obstacles, detects and track the moving obstacle, consider the unobserved areas, provide a motion plan with safety guarantees and executes it. All of it was implemented and integrated into a single computer maneuvering on real time an electri...

In this paper we present a method to simulate visually plausible large scale flow of fluids or smoke while maintaining real-time speed. We define the simulation over a coarse grid which is refined with more detailed grids around moving obstacles where fine details may emerge. The detailed grids also act as fixed frames of reference to the surrounded obstacles to prevent the need for working wit...

In this paper we describe a new approach to the problem of path planning with moving obstacles. Our approach is based on the maneuvering board method commonly used for nautical navigation. We have extended this method to handle cases where obstacles may maneuver at any time and where knowledge of the position and velocity of the obstacles may be uncertain.

In this paper, we provide an extension to our previous approach [1] to perform obstacle avoidance in the presence of multiple fast moving and rotating obstacles. Our approach leverage on the notion of DS to generate robot motions that are inherently robust to perturbations and can instantly adapt to changes in the target and obstacles’ positions in a dynamically moving environments. We validate...

| This paper addresses Dynamic Trajectory Planning, which is deened as Motion Planning for a robot A moving in a dynamic workspace W, i.e. with moving obstacles. Besides A is subject both to kinematic constraints and dynamic constraints. We consider the case of a car-like robot A with bounded velocity and acceleration, moving in a dynamic workspace W = IR 2. Our approach is an extension to the ...

Crossing moving obstacles requires different space-time adjustments compared with stationary obstacles. Our aim was to investigate gait spatial and temporal parameters in the approach and crossing phases of a moving obstacle. We hypothesized that obstacle speed affects gait parameters, which allow us to distinguish locomotor strategies. Ten young adults walked and stepped over an obstacle that ...