This paper deals with nonholonomic motion planning including obstacle avoidance capabilities. We show that the methods developed in absence of obstacles can be extended to the problem of obstacle avoidance, provided that they verify a topological property. Such steering methods allow us to design exact and complete collision-free path planners for a large family of systems. We show that the ste...

The avoidance of collisions among ships requires addressing various factors such as perception, decision-making, and control. These pose many challenges for autonomous collision avoidance. Traditional methods have encountered significant difficulties when used in They are challenged to cope with the changing environment harsh motion constraints. In actual navigation ships, it is necessary carry...

This paper presents a practical solution to the guidance of a unicycle type robot, including path following, obstacle avoidance and the respect of wheeled actuation saturation constraint, without planning procedure. These results are based on an extension of previous results on path following control including actuation saturation constraints. New solution for obstacle avoidance, with guarantee...

P r ~ i o u s LUC of arr$cial pountiab has dononraolcd the need for an oinmcle moidwue p o r e d that closely mo&L he obstacle. ye1 docr not pnworr lord minim0 in the wontrpocc of rhr manipuhror. Recentty we proposed a new ellipticd porcrdolfwvrion which &fis hesc rcquirenunu for rectongrhu objects in spherically synuncrric amocdvc wells. In rhir paper we present a ntw obstacle avoidwue porenri...

In the paper, an algorithm for the obstacle avoidance and a procedure for the role reassignment of robot formation control based on this algorithm are proposed. This algorithm contains an edge detector that is used to determine the position of the vertical edges of the obstacle in the environment. Meanwhile, a motion controller is also designed in this research based on the dynamic equation for...

Obstacle avoidance is a major requirement for any technological aid aimed at helping partially sighted (TAPS) people to navigate safely. In this paper, a stereo vision-based algorithm (Ground Plane Obstacle Detection) is extended to detect small obstacles for TAPS using RANSAC dynamic recalibration and Kalman Filtering. Obstacle detection and false alarm are investigated probabilistically. Furt...

This paper presents an human detection algorithm and an obstacle avoidance algorithm for a service robot that provides a service tracking. The mobile robot will have the ability to follow a human and avoid dynamically moving obstacles in an unstructured outdoor environment. To detect a human by an Image processing, we defined features of the human body in xml file and employed a support vector ...

This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simulation environment then the entire work has bee...