The paper presents a new path planning and replanning algorithm based on two-dimensional occupancy grid map of the environment, which integrates the focused D* (FD*) algorithm and Witkowski’s algorithm. The FD* algorithm is used for fast replanning and Witkowski’s algorithm is used for generating all optimal paths in the grid map. Our algorithm finds the shortest path in the geometrical space b...

ion Construction For these vehicles, the configuration space CS is three dimensional. The idea is to construct, centered at the robot at each time ti , the manifold of the configuration space ARM(qti )≡ ARM defined by elementary circular paths. The function that defines the manifold is:

W e describe the development of a large f ie ld of v iew laser scanning sensor, based on the lateral-eflect photodiode, f o r short range mobile roboi manoeuvres such a s obstacle avoidance and docking. Synchronous detect ion is used t o approach the theoretical l imit of sensor performance. Resul ts suggest that w e are only 82% above this l imit , allowing us t o ez tend the use of lateral ef...

This paper proposes a new approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses...

Online generation of trajectories in robots is a very complex task that involves the combination of different types of movements, i.e., distinct motor primitives. The later are used to model complex behaviors in robots, such as locomotion in irregular terrain and obstacle avoidance. In this paper, we consider two motor primitives: rhythmic and discrete. We study the effect on the robots’ gaits ...

The problem of teleoperating a mobile robot using shared autonomy is addressed: an onboard controller performs close range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. A strategy to convert such range information into forces is described, which a...

This paper presents further developments of the earlier Vector Field Histogram (VFH) method for realtime mobile robot obstacle avoidance. The enhanced method, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of the parameter tuning of the original VFH method by explicitly compensating for the robot width. Also added i...

We present a method for robot path planning in the robot’s configuration space, in the presence of fixed obstacles. Our method employs both combinatorial and gradient-based optimization techniques, but most distinguishably, it employs a Multi-sphere Scheme purposefully developed for two and three-dimensional packing problems. This is a singular feature which not only enables us to use a particu...

In this paper, is presented the design of an algorithm for detection and avoidance of obstacles for Guanay II AUV. The obstacle detection system is based on a sonar and its use guarantees the safe navigation of AUV. The strategy of obstacle avoidance is performed based on Fuzzy reactive architecture for different forward speeds of the vehicle. Simulation results obtained by developing the algor...

This paper presents an enhancement to the earlier developed Vector Field Histogram (VFH) method for mobile robot obstacle avoidance. The enhanced method, called VFH*, successfully deals with situations that are problematic for purely local obstacle avoidance algorithms. The VFH* method verifies that a particular candidate direction guides the robot around an obstacle. The verification is perfor...