Path smoothing is an important part of UAV (Unmanned Aerial Vehicle) path planning, because the smoothness of the planned path is related to the flight safety and stability of UAVs. In existing smooth UAV path planning methods, different characterist...
Robotic path planning is a field of research which is gaining traction given the broad domains of interest to which path planning is an important systemic requirement. The aim of path planning is to optimise the efficacy of robotic movement in a defi...
Mobile robots have various applications in agriculture, autonomous cars, industrial automation, planetary exploration, security, and surveillance. The generation of the optimal smooth path is a significant aspect of mobile robotics. An optimal path f...
Path tracking is a fundamental challenge in the development of automated driving systems, requiring precise control of vehicle motion while ensuring smooth and stable actuation signals. Advancements in this field often lead to increasingly complex co...
Developing autonomous navigation techniques for surface vehicles remains an important research area, and accurate global path planning is essential. For mobile robots—particularly for Unmanned Surface Vehicles (USVs)—a key challenge is en...
In this paper, a solution to the problem of following a curved path for underactuated unmanned surface vehicles (USVs) with unknown sideslip angle and model uncertainties is studied. A novel smooth sliding mode control (SSMC) based on a finite-time e...
In this paper, an Adaptive Improved Cuckoo-Catfish Optimizer (AICCO) is proposed for smooth and collision-free mobile robot path planning in static and dynamic environments. The proposed AICCO enhances the original Cuckoo-Catfish Optimizer (CCO) by i...
This paper presents an efficient three-dimensional (3D) Dubins path design and a new continuous curvature path-smoothing algorithm. The proposed 3D Dubins path is a simple extension of the 2D path and serves as a reference path generator to guide the...
On the example of a control system for an unmanned aerial vehicle, we consider the problems of filtering, smoothing and restoring derivatives of reference action signals. These signals determine the desired spatial path of the plant at the first appr...
As the field of robotics advances swiftly, industrial automation has become prevalent in the realms of manufacturing and precision measurement. In robot measurement applications, the original path often originates from the discrete output of CAD mode...
Global path planning for autonomous orchard robots must balance obstacle clearance, path smoothness, and trajectory trackability. This balance is difficult to achieve in unstructured orchards, where irregular tree rows, scattered trunks and ground ob...
Demand for 3D planning and guidance algorithms is increasing due, in part, to the increase in unmanned vehicle-based applications. Traditionally, two-dimensional (2D) trajectory planning algorithms address the problem by using the approach of maintai...
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...
The global planning module of car-like robots usually plans a coarse spatial path, which may be non-smooth and kinematically infeasible for car-like robots. This study proposes an efficient spatial path smoothing approach, which is capable of optimiz...
Probabilistic roadmap (PRM) methods are widely used for robot navigation in both 2D and 3D environments; however, a major drawback is that the raw paths tend to be jagged. Executing a trajectory along such paths can lead to significant overshoots and...
Assembly robots have become the core equipment of high-precision flexible automatic assembly systems with a small working range. Among different fields of robot technology, path planning is one of the most important branches. In the present study, an...
The A* algorithm is broadly identified for its application in diverse fields, such as agriculture, robotics and GPS technology, due to its effectiveness in route planning. Despite its broad utility, the algorithm faces inherent limitations regarding...
Grid-based multi-agent path finding (MAPF) solvers scale to large teams, but their discrete schedules may not provide high-quality continuous finite-radius motions near the square-grid corner-passing threshold. We study endpoint-time-preserving geome...
In mobile robot path planning, the traditional A* algorithm suffers from high path redundancy and poor smoothness, while the Dynamic Window Approach (DWA) tends to deviate from the global optimal path and has low efficiency in avoiding dynamic obstac...
The deep reinforcement learning (DRL) method shows great potential in unmanned underwater vehicle (UUV) motion control. Traditional control methods rely on an accurate UUV model. However, due to the nonlinearity of the UUV model and the complex under...
With the rapid development of industrial automation, robotic arms are increasingly required to operate in dynamic and unstructured environments. Path planning for such systems has become a critical challenge, particularly in scenarios involving dynam...
Within the Industry 4.0 ecosystem, Inspection Robotics is one fundamental technology to speed up monitoring processes and obtain good accuracy and performance of the inspections while avoiding possible safety issues for human personnel. This manuscri...
Enforcing the cessation of motion is a common action in robotic systems to avoid the damage that the robot can exert on itself, its environment or, in shared environments, people. This procedure raises two main concerns, which are addressed in this p...
The A* algorithm has been widely investigated and applied in path planning problems, but it does not fully consider the safety and smoothness of the path. Therefore, an improved A* algorithm is presented in this paper. Firstly, a new environment mode...
Mobile robots are extensively utilized across various fields, with path planning consistently representing a core and pivotal area of research. Path planning is essential for enabling the efficient navigation of robots within complex environments. In...
At present, autonomous mobile robots are widely used in industrial and commercial fields. However, although the global path searched by existing mobile robot path planning methods has no collision with obstacles, there is a problem in that the path i...
Path planning, as a key technology in unmanned aerial vehicle (UAV) systems, affects the overall efficiency of task completion and is often limited by energy consumption, obstacles, and maneuverability in complex application environments. Traditional...
Complete coverage path planning (CCPP) is vital in mobile robot applications. Optimizing CCPP is particularly significant in precision agriculture, where it enhances resource utilization, reduces soil compaction, and boosts crop yields. This work off...
This paper investigates the path-planning problem of unmanned aerial vehicles (UAVs) for logistics delivery in urban environments. The impact of real-time obstacle avoidance and path smoothness on the flyability of UAVs remains a challenge in existin...
Unmanned ground vehicles (UGVs) are technically complex machines to operate in difficult or dangerous environmental conditions. In recent years, there has been an increase in research on so called “following vehicles”. The said concept in...
To make unmanned surface vehicles that are better applied to the field of environmental monitoring in inland rivers, reservoirs, or coasts, we propose a global path-planning algorithm based on the improved A-star algorithm. The path search is carried...
Navigation is an indispensable component of ground and aerial mobile robots. Although there is a plethora of path planning algorithms, most of them generate paths that are not smooth and have angular turns. In many cases, it is not feasible for the r...
In this paper, we present a full coverage path planning (CPP) algorithm for the marine surveys conducted in the convex polygon shaped search area. The survey is supposed to carry out by torpedo-type AUVs (autonomous underwater vehicles). Due to their...
The discontinuities of a five-axis linear-segment toolpath result in fluctuation in the feedrate, acceleration and jerk commands that lead to machine tool vibration and poor surface finish. For path smoothing, with the global curve-fitting method it...
Path planning plays a crucial role in the execution of pursuit tasks for multiple unmanned ground vehicles (multi-UGVs). Although existing popular path-planning methods can achieve the pursuit goals, they suffer from some drawbacks such as long compu...
Facility agricultural robots operating in greenhouse environments often encounter narrow passages, dense obstacle distributions, and frequent path-direction changes, which increase the difficulty of achieving efficient and smooth autonomous navigatio...
Aiming at the problems of low efficiency, high energy consumption, and poor path quality during the multi-mechanism operation of bridge cranes in spatial tasks, an improved Rapidly exploring Random Tree (RRT) algorithm based on multi-strategy fusion...
The proposed research aims to accomplish an improved A* algorithm for mobile robots in complex environments. In this novel algorithm, the guidance of environment information is added to the evaluation function to enhance the adaptability of the algor...
Compared to the traditional non-load-bearing multi-legged robots, the heavy-duty multi-legged robots typically not only have larger body weight, larger volume, and larger load ratio but also require greater energy dissipation. Traditional path planni...
Path planning is crucial for unmanned surface vehicles (USVs) to navigate and avoid obstacles efficiently. This study evaluates and contrasts various USV path-planning algorithms, focusing on their effectiveness in dynamic obstacle avoidance, resista...
The efficiency and smoothness of path planning algorithms are critical factors influencing their practical applications. A traditional A* algorithm suffers from limitations in search efficiency, path smoothness, and obstacle avoidance. To address the...
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 flight management system is a basic component of avionics for modern airliners. However, the airborne flight management system needs to be improved and relies on imports; path planning is the key to the flight management system. Based on the clas...
Planning an achievable trajectory for a mobile robot usually consists of two steps: (i) finding a path in the form of a sequence of discrete waypoints and (ii) transforming this sequence into a continuous and smooth curve. To solve the second problem...
Social robots, designed to interact and assist people in social daily life scenarios, require adequate path planning algorithms to navigate autonomously through these environments. These algorithms have not only to find feasible paths but also to con...
Free-space multi-agent path planning remains challenging at large scales. Most existing methods either offer optimality guarantees but do not scale beyond a few dozen agents or rely on grid-world assumptions that do not generalize well to continuous...
The complete coverage path planning is a process of finding a path which ensures that a mobile robot completely covers the entire environment while following the planned path. In this paper, we propose a complete coverage path planning algorithm that...
Prefabricated construction has pioneered a new model in the construction industry, where prefabricated component modules are produced in factories and assembled on-site by construction workers, resulting in a highly efficient and convenient productio...
In this paper, we proposed an enhanced path planning strategy for sweeper robots, which were created for the curling Olympic games. The main task for the multi-robot system is to clean the ice surface making a smooth path for a curling stone. The swe...
Complex three-dimensional path planning requires a planner to generate collision-free, short, and smooth paths within limited computation time, but traditional RRT-based methods often suffer from unguided sampling, repeated expansion failures in dens...
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