This paper generalizes the concept of velocity obstacles [3] to obstacles moving along arbitrary trajectories. We introduce the non-linear velocity obstacle, which takes into account the shape, velocity and path curvature of the moving obstacle. The non-linear v-obstacle allows selecting a single avoidance maneuver (if one exists) that avoids any number of obstacles moving on any known trajecto...

The integration of Unmanned Aerial Vehicles (UAVs) requires new methods to certify collision avoidance systems. This paper presents a safety clearance process for obstacle avoidance systems where worst case analysis is performed using optimization based approaches under all possible parameter variations. The clearance criterion for the UAV obstacle avoidance system is defined as the minimum dis...

BACKGROUND Under carefully controlled conditions, rhythmic auditory cueing can improve gait in patients with Parkinson's disease (PD). In complex environments, attention paid to cueing might adversely affect gait, for example when a simultaneous task-such as avoiding obstacles-has to be executed. We primarily examined whether concurrent auditory cueing interferes with an obstacle avoidance task...

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...

Control method for moving robotics in closed areas based on creation and sharing maps through shortest path findings and obstacle avoidance is proposed. Through simulation study, a validity of the proposed method is confirmed. Furthermore, the effect of map sharing among robotics is also confirmed together with obstacle avoidance with cameras and ultrasonic sensors. Keywords-domestic robotics; ...

This is the summary of the research being done at Cal Poly Pomona at an undergraduate level on the development of obstacle avoidance capability for unmanned aerial vehicles (UAVs). A quadrotor UAV is used as the research platform. Push and Rapidly Exploring Random Tree (RRT) algorithms are used for the obstacle avoidance capability. The paper shows the use of cheaper commercial off-the-shelf se...

Learning a set of rules to perform reliable obstacle avoidance has been proven to be a difficult task. In this paper, a neural network learned from human driving data is introduced to model obstacle avoidance through dense areas of obstacles. The learned neural network is then tested on different scenarios and compared using cross-validation to determine the optimal network structure (number of...

Speed and vibration performance as well as obstacle avoidance performance of the previously proposed Electric Wheel Chair: EWC controlled by human eyes only is conducted. Experimental results show acceptable performances of speed vibration performance as well as obstacle avoidance performance for disabled persons. More importantly, disabled persons are satisfied with the proposed EWC because it...