When utilizing the traditional path planning method for unmanned surface vehicles (USVs), ‘planning-failure’ is a common phenomenon caused by the inflection points of large curvatures in the planned path, which exceed the performances of...
Recent advancements have been made in unmanned freight systems at ports, effectively improving port freight efficiency and being widely promoted and popularized in the field of cargo transportation in major ports around the world. The path planning a...
Autonomous robotic navigation is essential in modern systems for revolutionising various industries that operate in both static and dynamic environments. To achieve this autonomous navigation, various conventional techniques that handle environment m...
We propose a new parametrization of motion primitives based on Bézier curves that suits perfectly path-planning applications (and environment exploration) of wheeled mobile robots. The individual motion primitives can simply be calculated taki...
An optimized robot path-planning algorithm is required for various aspects of robot movements in applications. The efficacy of the robot path-planning model is vulnerable to the number of search nodes, path cost, and time complexity. The conventional...
The Rapidly-exploring Random Tree Star (RRT*) algorithm is widely applied in robotic manipulator path planning, yet it does not directly consider motion control, where abrupt changes may cause shocks and vibrations, reducing accuracy and stability. T...
Robots in hazardous environments demand precise and advanced motion control, making extensive simulations crucial for verifying the safety of motion planning. This paper presents a simulation system that enables interactive path editing, allowing for...
Indoor mobile robot (IMR) motion control for e-SLAM techniques with limited sensors, i.e., only LiDAR, is proposed in this research. The path was initially generated from simple floor plans constructed by the IMR exploration. The path planning starts...
The ability of unmanned surface vehicles (USV) on motion control and the accurate following of preset paths is the embodiment of its autonomy and intelligence, while there is extensive room for improvement when expanding its application scenarios. In...
A solution framework for UAV motion strategies in uncertain dynamic environments is constructed in this paper. Considering that the motion states of UAV might be influenced by some dynamic uncertainties, such as control strategies, flight environment...
Provably correct and computationally efficient path planning in the presence of various constraints is essential for autonomous driving and agile maneuvering of mobile robots. In this paper, we consider the planning of G 3-continuous planar paths...
This article delineates the enhancement of an autonomous navigation and obstacle avoidance system for a quadruped robot dog. Part one of this paper presents the integration of a sophisticated multi-level dynamic control framework, utilizing Model Pre...
Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and velocity prefer...
Local path planning is a key task for the motion planners of autonomous vehicles since it commands the vehicle across its environment while avoiding any obstacles. To perform this task, the local path planner generates a trajectory and a velocity pro...
In order to enhance performance of robot systems in the manufacturing industry, it is essential to develop motion and task planning algorithms. Especially, it is important for the motion plan to be generated automatically in order to deal with variou...
In this paper, we propose a synchronous cooperative path planning (SCPP) algorithm for the robot and the positioner to process complex space curve workpieces. The specific algorithm design is illustrated by using the intersecting line welding as an e...
Linear temporal logic (LTL) formalism can ensure the correctness of mobile robot planning through concise, readable, and verifiable mission specifications. For uneven terrain, planning must consider motion constraints related to asymmetric slope trav...
Unmanned aerial vehicles (UAVs) are widely employed across diverse fields due to their flexibility and scalability. However, achieving full autonomy remains a challenge as human intervention is still required in most scenarios. Motion planning, a cor...
Robotic systems frequently need to plan consecutive similar manipulation in some scenarios (e.g., pick-and-place tasks), leading to similar motion plans. Moreover, the workspace of a robot changes with the difference in operation actions, which affec...
Motion planning is widely applied to industrial robots, medical robots, bionic robots, and smart vehicles. Most work environments of robots are not static, which leads to difficulties for robot motion planning. We present a dynamic Gaussian local pla...
In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing the energy consumption of the motion simulator, a robot motion planning method based on energy saving is proposed. Observable-...
Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy...
Research on modular robots for space exploration has primarily focused on reconfiguration, with limited attention given to the maneuverability in space environment, which is essential for harnessing the advantages of reconfiguration. In this paper, a...
An effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper. The method works within confined spaces cluttered with obstacles in real...
Intelligent agricultural machinery refers to machinery that can independently complete tasks in the field, which has great significance for the transformation of agricultural modernization. However, most of the existing research on intelligent agricu...
A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired am...
One of the fundamental fields of research is motion planning. Mobile manipulators present a unique set of challenges for the planning algorithms, as they are usually kinematically redundant and dynamically complex owing to the different dynamic behav...
Today, mobile robots have a wide range of real-world applications where they can replace or assist humans in many tasks, such as search and rescue, surveillance, patrolling, inspection, environmental monitoring, etc. These tasks usually require a rob...
The rapid advancement of artificial intelligence technology has significantly enhanced the intelligence of mobile robots, facilitating their widespread utilization in unmanned driving, smart home systems, and various other domains. As the scope, scal...
In recent years, the self-driving car technologies have been developed with many successful stories in both academia and industry. The challenge for autonomous vehicles is the requirement of operating accurately and robustly in the urban environment....
Efficient navigation is crucial for intelligent mobile robots in complex environments. This paper introduces an innovative approach that seamlessly integrates advanced machine learning techniques to enhance mobile robot communication and path plannin...
Navigating robotic systems autonomously through unknown, dynamic and GPS-denied environments is a challenging task. One requirement of this is a path planner which provides safe trajectories in real-world conditions such as nonlinear vehicle dynamics...
Path planning is the precondition for Hybrid Autonomous Underwater Vehicles (HAUV) to enter the submerged area to undertake a mission. The influence of ocean currents on HAUV should be further investigated to obtain a time-optimal path. The improved...
Collision avoidance (CA) using the artificial potential field (APF) usually faces several known issues such as local minima and dynamically infeasible problems, so unmanned aerial vehicles’ (UAVs) paths planned based on the APF are safe only in a cer...
Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. Thes...
Meniscoplasty is a common surgical procedure used to treat meniscus tears. During the operation, there are often key challenges such as a limited visual field, a narrow operating space, and difficulties in controlling the resection range. Therefore,...
Unmanned Aerial Vehicles (UAVs) can be an important component in the Internet of Things (IoT) ecosystem due to their ability to collect and transmit data from remote and hard-to-reach areas. Ensuring collision-free navigation for these UAVs is crucia...
Currently, with the continuous improvements and advancements in artificial intelligence, wireless data transmission, and sensing technologies, increasing amounts of marine vehicles are being designed and applied to promote the marine economy and prot...
Vehicular technology has recently gained increasing popularity, and autonomous driving is a hot topic. To achieve safe and reliable intelligent transportation systems, accurate positioning technologies need to be built to factor in the different type...
Research on autonomous cars, early intensified in the 1990s, is becoming one of the main research paths in automotive industry. Recent works use Rapidly-exploring Random Trees to explore the state space along a given reference path, and to compute th...
Traditional path-planning algorithms for robotic manipulators typically focus on end-effector planning, often neglecting complete collision avoidance for the entire manipulator. Additionally, many existing approaches suffer from high time complexity...
The ability to plan a multiple-target path that goes through places considered important is desirable for autonomous mobile robots that perform tasks in industrial environments. This characteristic is necessary for inspection robots that monitor the...
This paper attempts to develop a unified model predictive control (MPC) method for integrated path planning and trajectory tracking of autonomous underwater vehicles (AUVs). To deal with the computational burden of online path planning, an event-trig...
This paper presents a complete system for autonomous navigation in GPS-denied environments using a minimal sensor suite that operates onboard a robotic vehicle. Our system utilizes a single camera and, given a target destination without prior knowled...
One of the most commonly performed environmental explorations is soil sampling to identify soil properties of agricultural fields, which can inform the farmer about the variable rate treatment of fertilisers in precision agriculture. However, traditi...
Autonomous driving and its real-world implementation have been among the most actively studied topics in the past few years. In recent years, this growth has been accelerated by the development of advanced deep learning-based data processing technolo...
This paper presents an algorithm for finding a solution to the problem of planning a feasible path for a slender autonomous mobile robot in a large and cluttered environment. The presented approach is based on performing a graph search on a kinodynam...
This paper suggests a novel methodology in collision-free shortest path planning (CFSPP) problems for mobile agents (MAs) using a method that combines a genetic algorithm (GA) and a direction factor toward a target point. In the CFSPP problem, MAs fi...
In this paper, we address a collision avoidance method for mobile robots. Many conventional obstacle avoidance methods have been focused solely on avoiding obstacles. However, this can cause instability when passing through a narrow passage, and can...
Path planning for mobile agents is one of the areas that has drawn the attention of researchers’, as evidenced in the large number of papers related to the collision-free path planning (CFPP) algorithm. The purpose of this paper is to review th...
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