In this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random con...
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ISBN:
(纸本)9781479967988
In this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random control points based on the collision detection and penetration characteristics of the candidate paths. The main advantage of the proposed method compared to other probabilistic path planners is that the samples generated are taken only in the free space connecting the start and goal configuration, thus utilizing the geometric characteristics to direct the sampling in proper areas. A wavefront inspired searching algorithm, called collision wave, is used to explore the configuration space, that generates feasible paths that can then be sorted according to a metric. The results show that the directed randomness of the control points reduces the required collision checks and the search space towards high efficiency.
There are a lot of researches on the path planning algorithm for those of the unmanned vehicle. Previous researches related to the pathplanning mainly focused on finding the shortest path on the given map. However, o...
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ISBN:
(纸本)9781467331104
There are a lot of researches on the path planning algorithm for those of the unmanned vehicle. Previous researches related to the pathplanning mainly focused on finding the shortest path on the given map. However, on the battle field, if the vehicle just moves along the shortest path, it could not reach the goal, because of the enemy's attack. Therefore it's necessary that the new path planning algorithm for the unmanned vehicle on the battle field. In this paper, we will suggest a new path planning algorithm for the vehicle on the battle field using extended A* algorithm with survivability. For this, we will define the survivability and develop the additional cost function to find the optimal path in this situation. To verify the proposed algorithm, we developed the simulation program and the results will be shown.
The latest attempts at improving small scale autonomously guided Uninhabited Aerial Vehicles (UAVs) have concentrated around the increase of range and speed. One of these ways is to incorporate dynamic slope soaring m...
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The latest attempts at improving small scale autonomously guided Uninhabited Aerial Vehicles (UAVs) have concentrated around the increase of range and speed. One of these ways is to incorporate dynamic slope soaring manoeuvres as part of the flight path. This is in contrast to most conventional path-planningalgorithms where waypoint guidance is merged with terrain avoidance or contour following capability. Additionally, current trajectory optimization techniques are iterative and so have a considerable computational load. The proposed algorithm is based on Dubin's curves, and is therefore optimal by definition. Being non-iterative, it is comparatively a more efficient algorithm. Hence, a key advantage of the proposed technique is that the desired trajectory is generated quickly in real time with minimum computational load while satisfying the spatial constraints of dynamic slope soaring.
The automatic parking assist system is one of the key components in future automobiles. pathplanning of a car-like robot is difficult because of non-holonomic constraints. In this study, the authors propose a practic...
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The automatic parking assist system is one of the key components in future automobiles. pathplanning of a car-like robot is difficult because of non-holonomic constraints. In this study, the authors propose a practical path planning algorithm for the car-parking control problem. Reachable regions from a goal can be easily computed using the proposed scheme. A variety of candidate paths can be generated by using conventional back-propagation scheme. Finally, we can obtain optimal solutions with respect to performance measures such as collision safety, moving distance, control efforts and so forth. The presented simulation results clearly show that the proposed scheme provides useful solutions.
In this paper, we present a framework for tracking a moving target in urban environments using UAVs in cooperation with UGVs. The framework takes into account occlusions between the sensor and the target. The target s...
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ISBN:
(纸本)9781424488650
In this paper, we present a framework for tracking a moving target in urban environments using UAVs in cooperation with UGVs. The framework takes into account occlusions between the sensor and the target. The target state is modeled using the dynamic occupancy grid and the target motion model is built using a second-order Markov chain. Based on the target occupancy grid, we design the path planning algorithm to maneuver the UAV and the UGV to configurations where they can detect the target with high probability. Simulation results show the framework is successful in solving the target tracking problem in urban environments. We also build an indoor hardware platform and successfully implement preliminary tracking algorithms on the platform. Results show the platform can be further used to test more advanced tracking algorithms like the proposed tracking framework.
The wheeled or crawled robots often suffer from big obstacles or ditches, so a hopping robot needs to fit the tough landform in the field environments. In order to jump over obstacles rapidly, a jumping sequence must ...
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The wheeled or crawled robots often suffer from big obstacles or ditches, so a hopping robot needs to fit the tough landform in the field environments. In order to jump over obstacles rapidly, a jumping sequence must be generated based on the landform information from sensors or user input. The planning method for planar mobile robots is compared with that of hopping robots. Several factors can change the planning result. Adjusting these coefficients, a heuristic searching algorithm for the jumping sequence is developed on a simplified landform. Calculational result indicates that the algorithm can achieve safety and efficient control sequences for a desired goal.
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