A critical challenge in the creation of autonomous mobile robots is the reliable detection of moving and static obstacles. In this paper, we present a passive vision system that recovers coarse depth information reliably and efficiently. This system is based on the concept of depth from focus, and robustly locates static and moving obstacles as well as stairs and dropoffs with adequate accuracy...

We present a semantics for architectural specifications in Casl, including an extended static analysis compatible with modeltheoretic requirements. The main obstacle here is the lack of amalgamation for Casl models. To circumvent this problem, we extend the Casl logic by introducing enriched signatures, where subsort embeddings form a category rather than just a preorder. The extended model fun...

This paper proposed a new approach for optimum path planning in 2D environments cluttered with static obstacles. The presented model consists of four steps.In the first step, the skeleton of free obstacles space is extracted. The thin lines are converted into a graph in the second step. the determination of shortest length trajectory is done in the third step. The last step is consacred to cons...

Recent developments in subjectivity, composition technology and novel prototype-based languages demonstrate that dynamic object extension is an essential feature in modern object-orientation. The total absence of static type systems for dynamic object extension is a major obstacle for its adoption. We describe a static type system using specialisation interfaces with a trade-off between possibl...

This paper presents a stochastic map building method for mobile robot using a 2-D laser range finder. Unlike other methods that are based on a set of geometric primitives, the presented method builds a map with a set of obstacle regions. In building a map of the environment, the presented algorithm represents the obstacles with a number of stochastic obstacle regions, each of which is character...

In this paper, we investigate the issue of accurate estimation of the three-dimensional (3D) coordinates of a static scene from real images, combining xation and stereo cues. We may need to compute 3D data in many applications: vehicle positioning and maneuver, object observation and recognition, moving or xed obstacle avoidance, 3D mapping for surveillance, etc. More speci cally, we discuss th...

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algori...

In the future, it’s not difficult to image that we will often come across many autonomous mobile robots traversing densely populated place we live in. In such situation, because the autonomous mobile robots need to carry out their tasks in a place with unknown obstacles, the obstacle avoidance is one of the important functions of the robots. With a view to implementation of autonomous mobile ro...

In order to solve the problem that it is difficult combine path planning with navigation rules in process of multi-ship collision avoidance wide waters, a step-by-step algorithm proposed this paper. Firstly, obstacle ship regarded as static obstacle, and carried out by using particle swarm optimization polar coordinate space combined field safety obtain turning point avoidance. Then, steering a...

Abstract Mobile robots can replace rescuers in rescue and detection missions complex unstructured environments draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with reconfigurable body self-adaptable obstacle-climbing mechanisms, which reconfigure itself to three locomotion states realize advantages terrain adaptability, obstacle-crossing ability, port...