In the workspace of robot manipulators in practice, it is common that there are both static and periodic moving obstacles. Existing results in the literature have been focusing mainly on the static obstacles. This paper is concerned with multi-arm ma...
This article addresses the challenge of designing obstacle avoidance control strategies for unmanned ship systems operating in environments with moving obstacles and unmodeled dynamics. First, we utilize an enhanced artificial potential field method...
Path planning with collision avoidance for unmanned aerial vehicles (UAVs) in environments with moving obstacles is a complex process of navigation, often considered a hard optimization problem. Ordinary resolution algorithms may fail to provide flya...
This paper presents a deep reinforcement learning-based path planning algorithm for the multi-arm robot manipulator when there are both fixed and moving obstacles in the workspace. Considering the problem properties such as high dimensionality and co...
In the near future, it’s expected that unmanned aerial vehicles (UAVs) will become ubiquitous surrogates for human-crewed vehicles in the field of border patrol, package delivery, etc. Therefore, many three-dimensional (3D) navigation algorithms base...
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...
Using intelligent agricultural machines in paddy fields has received great attention. An obstacle avoidance system is required with the development of agricultural machines. In order to make the machines more intelligent, detecting and tracking obsta...
This paper investigates the integration of traffic information (TI) into the routing in the presence of moving obstacles. When traffic accidents occur, the incidents could generate different kinds of hazards (e.g., toxic plumes), which make certain p...
With the increasing applications of unmanned aerial vehicles (UAVs) in surveying, mapping, rescue, etc., the security of autonomous flight in complex environments becomes a crucial issue. Deploying autonomous UAVs in complex environments typically re...
For unmanned aerial vehicles (UAVs), landing on a moving vehicle robustly is an open challenge, especially under cluttered surroundings with the presence of unknown obstacles. Those undesired environmental factors could induce collisions and thus aff...
In this study, we introduce a novel method for an online trajectory replanning approach for fixed-wing Unmanned Aerial Vehicles (UAVs). Our method integrates moving obstacle predictions within a gradient-based optimization framework. The trajectory i...
Nature-based solutions (NBS) are frequently implemented without taking the system’s perspective into account and with the main focus on technical and economic issues of implementation. This study was conducted to test the hypothesis on the pote...
The industry is changing in order to improve the economy sector. This is the reason why technology is improving and developing new devices. The autonomous guided vehicle with free navigation is a new machine, which uses different techniques to move s...
To solve the trajectory planning problem of the flexible manipulator under various constraints such as end-camera attitude, drive space, and obstacles during video inspection along a continuous path in narrow three-dimensional space, this paper propo...
The avoidance of adverse weather is an inevitable safety-relevant task in aviation. Automated avoidance can help to improve safety and reduce costs in manned and unmanned aviation. For this purpose, a straightforward trajectory planner for a single-s...
Robot path planning is one of the core issues in robotics and its application. Optimizing the route discovery becomes more important while dealing with the robot-based application. This paper proposes the concept of early detection of the obstacle pr...
This work extends the characteristic-based volume penalization method, originally developed and demonstrated for compressible subsonic viscous flows in (J. Comput. Phys. 262, 2014), to a hyperbolic system of partial differential equations involving c...
The industrial manufacturing sector is undergoing a tremendous revolution moving from traditional production processes to intelligent techniques. Under this revolution, known as Industry 4.0 (I40), a robot is no longer static equipment but an active...
In this article, a method for microparts parallel manipulation with electrostatic forces, applied by conductive electrodes embedded on a Programmable “Smart Platform”, is introduced. The design of the platform and the layout of the electr...
Aerial inspection missions over long distances are guided by planning paths with minimum energy consumption, which generally leads to routes with shorter distances. However, these conditions cannot always be met due to the environment’s geometr...
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...
This work provides a generalization of the three-dimensional velocity obstacle (VO) collision avoidance strategy for nonlinear second-order underactuated systems in three-dimensional dynamic uncertain environments. A hierarchical architecture is expl...
The aim of this study is to develop the next-generation fully autonomous electric wheelchair capable of operating in diverse environments. This study proposes a self-controlled autonomous mobility system that integrates a monocular camera and laser-b...
A reactive three-dimensional maneuver strategy for a multirotor Unmanned Aerial Vehicle (UAV) is proposed based on the collision cone approach to avoid potential collision with a single moving obstacle detected by an onboard sensor. A Light Detection...
Container yard congestion can become a bottleneck in port logistics and result in accidents. Therefore, transfer cranes, which were previously operated manually, are being automated to increase their work efficiency. Moreover, LiDAR is used for recog...
Moving-boundary problems for incompressible flows often require repeated mesh generation when body-fitted finite element methods are used. This may become costly for flows with moving rigid obstacles, since the numerical solution from the previous ti...
Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of th...
Based on probabilistic time-geography, the encounter between two moving objects is random. The quantitative analysis of the probability of encounter needs to consider the actual geographical environment. The existing encounter probability algorithm i...
Evading collisions in three-dimensional underwater environments is critical in exploration of an Autonomous Underwater Vehicle (AUV). In underwater environments, AUV measures an obstacle surface by utilizing a three-dimensional active sonar. This art...
The field of autonomous robotics is progressing rapidly, with research moving toward developing systems capable of moving without direct human control and learning without human intervention. One of the problems requiring an efficient and sustainable...
The Boussinesq equations are widely used to model incompressible thermally driven flows, but their numerical simulation becomes more challenging in domains containing fixed or moving rigid obstacles, particularly when the prescribed obstacle motion i...
The International Lunar Research Station, to be established around 2030, will equip lunar rovers with robotic arms as constructors. Construction requires lunar soil and lunar rovers, for which rovers must go toward different waypoints without encount...
Autonomous indoor service robots use the same passages which are used by people for navigation to specific areas. These robots are equipped with visual sensors, laser or sonar based range estimation sensors to avoid collision with obstacles, people,...
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...
The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles...
This paper addresses the simultaneous localization and guidance of two underwater hexapod robots under sea currents. This paper considers an underwater environment where there are no landmarks or features which can assist a robot’s localization...
Moving object detection and tracking are technologies applied to wide research fields including traffic monitoring and recognition of workers in surrounding heavy equipment environments. However, the conventional moving object detection methods have...
A new roadway eventual obstacle detection system based on computer vision is described and evaluated. This system uses low-cost hardware and open-source software to detect and classify moving elements in roads using infra-red and colour video images...
Trajectory tracking with collision avoidance for a multicopter is solved based on geometrical relations. In this paper, a new method is proposed for a multicopter to move from the start position to a desired destination and track a pre-planned trajec...
This paper investigates the cooperative control problem for a group of autonomous nonholonomic mobile robots, in which the robots are required to collaboratively enclose and track a stationary or moving target in a circular formation. In order to sol...
This paper presents an obstacle avoidance strategy for mobile manipulators consisting of a robotic arm and a base with a non-holonomic differential wheel system. The algorithm makes it possible to avoid obstacles in a dynamic environment, without pla...
Given the spatial structures and functional requirements, there are a number of different types of obstacles in long and narrow confined spaces that will cause a premixed gas explosion to produce greater overpressure and influence the flame behavior...
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 this work, we present a complete hybrid navigation system for a two-wheel differential drive mobile robot that includes static-environment- global-path planning and dynamic environment obstacle-avoidance tasks. By the given map, we propose a multi...
The flexibility and rapid mobility of drones make them ideal for Internet of Things (IoT) applications, such as traffic control and data collection. Therefore, the autonomous navigation of 5G drones in unknown and dynamic environments has become a ma...
This research establishes a “detect-decide-action” agent-based evacuation model based on the social force model, introducing an active steering force into the basis of the dynamic equation with the combination of the behavioral decision m...
Unmanned helicopters (UH) can avoid radar detection by flying at ultra-low altitudes; thus, they have been widely used in the battlefield. The flight safety of UH is seriously affected by moving obstacles such as flocks of birds in low airspace. Ther...
The speed with which animals acclimate to a new environment could be an important measure of ability to cope with management induced stress. This study developed a measure of acclimation rate in a group of 50 Bos taurus heifers during yard weaning ov...
The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolut...
In this paper, a novel DRL algorithm based on a DQN is proposed for multiple mobile robots to find optimized paths. The multiple robots’ states are the inputs of the DQN. The DQN estimates the Q-value of the agents’ actions. After selecti...
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