Unmanned surface vehicle (USV) path planning is a crucial technology for achieving USV autonomous navigation. Under global path planning, dynamic local obstacle avoidance has become the primary focus for safe USV navigation. In this study, a USV auto...
This paper proposes an enhanced local path planning method based on the Dynamic Window Approach (DWA), enabling a mobile robot to safely avoid obstacles and efficiently reach its destination. To overcome the limitations of the conventional DWA in han...
In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking...
Dynamic obstacle avoidance is essential for unmanned surface vehicles (USVs) to achieve autonomous sailing. This paper presents a dynamic navigation ship domain (DNSD)-based dynamic obstacle avoidance approach for USVs in compliance with COLREGs. Bas...
Dynamic movement primitives (DMPs) are a robust framework for movement generation from demonstrations. This framework can be extended by adding a perturbing term to achieve obstacle avoidance without sacrificing stability. The additional term is usua...
The complexity and difficulty of dynamic obstacle avoidance for AGVs are increased by the uncertainty in a dynamic environment. The adaptive speed obstacle method allows the size of the collision cone to be dynamically changed to solve this problem,...
In order to offer simple and convenient assistance for the elderly and disabled to take care of themselves, we propose a general learning and generalization approach for a service robot to accomplish specified tasks autonomously in an unstructured ho...
This paper presents an obstacle-avoidance trajectory tracking method based on a nonlinear model prediction, with a dynamic environment considered in the trajectory tracking of nonholonomic mobile robots for obstacle avoidance. In this method, collisi...
The artificial potential field approach provides a simple and effective motion planner for robot navigation. However, the traditional artificial potential field approach in practice can have a local minimum problem, i.e., the attractive force from th...
Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored in this article. To address obstacle avoidance problems, a multiple-query and sampling-based motion replanning algorithm with the dynamic bias-goal fact...
A new method is proposed for the dynamic obstacle avoidance problem of unmanned surface vehicles (USVs) under the international regulations for preventing collisions at sea (COLREGs), which applies the particle swarm optimization algorithm (PSO) to t...
This paper presents a real-time path planning approach for controlling the motion of space-based robots. The algorithm can plan three-dimensional trajectories for agents in a complex environment which includes numerous static and dynamic obstacles, p...
In the context of Industry 4.0, addressing the challenge of dynamic obstacle avoidance for Automated Guided Vehicles (AGVs) in complex industrial environments, this paper proposes an algorithm that integrates an enhanced social force model (SFM) and...
In the past few years, due to the growth of the open-source community and the popularity of perceptual computing resources, the ROS (Robotic Operating System)Ecosystem has been widely shared and used in academia, industrial applications, and service...
Autonomous sprayer UAVs are one of the most used aerial machines in modern agriculture. During flight missions, some common narrow obstacles appear in the flying zone. These are non-detectable from satellite images and one of the biggest challenges f...
Autonomous mobile robots are essential to the industry, and human–robot interactions are becoming more common nowadays. These interactions require that the robots navigate scenarios with static and dynamic obstacles in a safely manner, avoiding...
To address the shortcomings of traditional bionic algorithms in path planning, such as inefficient search processes, extended planning distances and times, and suboptimal dynamic obstacle avoidance, this paper introduces a fusion algorithm called NRB...
In dynamic and unstructured environments, the obstacle avoidance capabilities of Unmanned Aerial Vehicles (UAVs) are crucial for mission success. Traditional methods struggle with adaptability and effectiveness in unknown or changing scenes. In contr...
In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human–Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the proc...
Complex mountainous environments pose significant challenges for dynamic path planning and obstacle avoidance of transport vehicles. In response, this paper presents an innovative path planning approach that combines an enhanced A* algorithm with the...
In this paper, a novel and complete navigation system is proposed for mobile robots in a park environment, which can achieve safe and stable navigation as well as robust dynamic obstacle avoidance. The navigation system includes a global planning lay...
Formation obstacle avoidance is a critical aspect of cooperation among unmanned surface vehicles (USVs). In practical scenarios involving multiple USVs, managing obstacle avoidance during formation assembly and navigation is essential to ensure the s...
The use of reinforcement learning (RL) for dynamic obstacle avoidance (DOA) algorithms and path planning (PP) has become increasingly popular in recent years. Despite the importance of RL in this growing technological era, few studies have systematic...
Establishing an accurate and computationally efficient model for driving risk assessment, considering the influence of vehicle motion state and kinematic characteristics on path planning, is crucial for generating safe, comfortable, and easily tracka...
The goal of this paper is to solve the problem of dynamic obstacle avoidance for a mobile platform using the stochastic optimal control framework to compute paths that are optimal in terms of safety and energy efficiency under constraints. We propose...
To navigate dynamic environments safely, UAVs require accurate, real time onboard perception, which relies on ego motion compensation to separate self-induced motion from external dynamics and enable reliable obstacle detection. Traditional ego-motio...
Path planning for Unmanned Aerial Vehicles (UAVs) plays a critical role in power line inspection. In complex inspection environments characterized by densely distributed and dynamic obstacles, traditional path-planning algorithms struggle to ensure b...
To address the challenges of robotic arm path-planning in dynamic environments, this study proposes a reinforcement learning-based dynamic obstacle avoidance method. The study concerns a robot with six rotational degrees of freedom when moving outsid...
In order to solve the problem of obstacle avoidance and low endurance of UAV autonomous flight in column obstacle scenes such as transmission towers, this paper improves and integrates the path planning algorithm to achieve efficient and accurate pat...
In this paper, we propose a fusion algorithm that integrates the 3D vector field histogram plus (VFH+) algorithm and the improved dynamic window approach (DWA) algorithm. The aim is to address the challenge of cooperative obstacle avoidance faced by...
This paper proposes a fusion algorithm based on state-tracking collision detection and the simulated annealing potential field (SCD-SAPF) to address the challenges of obstacle avoidance for autonomous underwater vehicles (AUVs) in dynamic environment...
This work presents a framework that allows Unmanned Surface Vehicles (USVs) to avoid dynamic obstacles through initial training on an Unmanned Ground Vehicle (UGV) and cross-domain retraining on a USV. This is achieved by integrating a Deep Reinforce...
As various fields and industries have progressed, the use of drones has grown tremendously. The problem of path planning for drones flying at low altitude in urban as well as mountainous areas will be crucial for drones performing search-and-rescue m...
With the advantages of long-range flight and high payload capacity, large fixed-wing UAVs are often used in anti-terrorism missions, disaster surveillance, and emergency supply delivery. In the existing research, there is little research on the 3D mo...
The integration of machine learning and robotics brings promising potential to tackle the application challenges of mobile robot navigation in industries. The real-world environment is highly dynamic and unpredictable, with increasing necessities for...
Path planning for autonomous mobile robots in dynamic environments is a critical challenge, particularly when robots must navigate both known and unknown obstacles in real-time. Traditional methods like ant colony optimization (ACO) have shown promis...
Due to the uncertainty and complexity of the assembly process, the trajectory planning of a robot needs to consider the real-time obstacle avoidance problem when it completes the assembly in the unstructured workspace. To realize the safe assembly of...
To further improve the path planning of the mobile robot in complex dynamic environments, this paper proposes an enhanced hybrid algorithm by considering the excellent search capability of the ant colony optimization (ACO) for global paths and the ad...
Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynam...
This paper introduces a practical navigation approach for nonholonomic Unmanned Aerial Vehicles (UAVs) in 3D environment settings with numerous stationary and dynamic obstacles. To achieve the intended outcome, Dynamic Programming (DP) is combined wi...
The study of path-planning algorithms is crucial for an electric logistics vehicle to reach its target point quickly and safely. In light of this, this work suggests a novel path-planning technique based on the improved A-star (A*) fusion dynamic win...
Designed to meet the demands of AGV global optimal path planning and dynamic obstacle avoidance, this paper proposes a combination of an improved A* algorithm and dynamic window method fusion algorithm. Firstly, the heuristic function is dynamically...
In this paper, a novel global time-varying path planning (GTVP) method is proposed. In the method, real-time paths can be generated based on tunable Bezier curves, which can realize obstacle avoidance of manipulators. First, finite feature points are...
The increasing prevalence of intelligent driving sightseeing vehicles in the tourism industry underscores the critical importance of real-time planning for effective local obstacle avoidance paths when these vehicles encounter obstacles during operat...
This paper presents a hybrid path planning method that integrates an enhanced A-Star algorithm with the Dynamic Window Approach (DWA). The proposed approach addresses the limitations of conventional A-Star algorithms in global path planning, particul...
Aiming at the problem of difficult obstacle avoidance for unmanned ground vehicles (UGVs) in complex dynamic environments, an improved A*-APF algorithm (BA*-MAPF algorithm) is proposed in this paper. Addressing the A* algorithm’s challenges of...
Formation obstacle avoidance is an essential attribute of the cooperative task in unmanned surface vehicle (USV) formation. In real-world scenarios involving multiple USVs, both formation obstacle avoidance and formation recovery after obstacle avoid...
The existing variants of the rapidly exploring random tree (RRT) cannot be effectively applied in local path planning of the autonomous vehicle and solve the coherence problem of paths between the front and back frames. Thus, an improved heuristic Bi...
A wide range of research has been conducted on path planning and collision avoidance to enhance the operational efficiency of unmanned aerial vehicles (UAVs). The existing works have mainly assumed an environment with static obstacles and global posi...
Local path planning is a necessary ability for mobile robot navigation, but existing planners are not sufficiently effective at dynamic obstacle avoidance. In this article, an improved timed elastic band (TEB) planner based on the requirements of mob...
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