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,...
Path planning is one of the most essential parts of autonomous navigation. Most existing works are based on the strategy of adjusting angles for planning. However, drones are susceptible to collisions in environments with densely distributed and high...
High-speed near-ground flight presents critical challenges for large-inertia UAVs carrying payloads, including complex obstacles and communication-denied environments. Unlike agile small drones, these platforms require both rapid path planning and st...
Aiming at the problems of difficult handling of three-dimensional flight conflicts and unfair distribution of resolution costs, we propose a multi-aircraft conflict resolution method based on the network cooperative game. Firstly, we establish a flig...
This study introduces a method for formation control and obstacle avoidance for multiple unmanned surface vehicles (USVs) by combining an artificial potential field with the virtual structure method. The approach involves a leader–follower form...
In response to the fact that autonomous vehicles cannot avoid obstacles by emergency braking alone, this paper proposes an active collision avoidance method for autonomous vehicles based on model predictive control (MPC). The method includes trajecto...
Low visibility and hot smoke environment under fire conditions can largely hamper the related fire rescue processes. Ultrasound obstacle avoidance technology is then useful for guidance. However, the biggest challenge of adopting ultrasound technolog...
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...
An efficient obstacle detection system is one of the most important guarantees for improving the active safety performance of autonomous vehicles. This paper proposes an obstacle detection method based on high-precision positioning applied to blocked...
To enhance obstacle avoidance abilities of the plant protection UAV in unstructured farmland, this article improved the traditional A* algorithms through dynamic heuristic functions, search point optimization, and inflection point optimization based...
Model Predictive Control (MPC) predicts the vehicle’s motion within a fixed time window, known as the prediction horizon, and calculates potential collision risks with obstacles in advance. It then determines the optimal steering input to guide...
Considering the influence of high-speed obstacle avoidance trajectory in the optimization design stage of intelligent bus aerodynamic shape. A collaborative optimization method aiming at aerodynamic structure and trajectory control system for intelli...
In recent years, dual-arm robots have been favored in various industries due to their excellent coordinated operability. One of the focused areas of study on dual-arm robots is obstacle avoidance, namely path planning. Among the existing path plannin...
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...
Hub motor-driven vehicles can control vehicle attitude by regulating the speed and torque of four wheels, supporting safe and stable lane changing and obstacle avoidance. However, under high-speed scenarios, these vehicles often suffer from poor stab...
This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full...
This paper presents the design of an intra-row obstacle avoidance shovel-type weeding machine. Theoretical analysis of intra-row weeding components guided the determination of the structures and parameters for key parts, including the signal acquisit...
Industry 5.0 is a developing phase in the evolution of industrialization that aims to reshape the production process by enhancing human creativity through the utilization of automation technologies and machine intelligence. Its central pillar is the...
This paper proposes the Risk-Aware SAC (RA-SAC) algorithm for unmanned surface vehicle (USV) path planning in the presence of high-speed dynamic obstacle interference. This method integrates risk perception, obstacle motion state extrapolation and he...
The autonomous navigation capability of amphibious robots in complex water–land environments is a key technology. However, with the existing local path planning methods, it is difficult to meet the autonomous navigation needs of amphibious robo...
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 describes the influence of the presence of an obstacle near the flue pipe’s mouth on the air jet, which directly affects the parameters of the sound generated by the flue pipe. Labial pipes of the most common types of mouth were test...
When a manipulator works in dynamic environments, it may be affected by obstacles and may cause danger to people around. This requires the manipulator to be able to plan the obstacle avoidance motion in real time. Therefore, the problem solved in thi...
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...
This paper focuses on the obstacle avoidance trajectory planning problem for autonomous vehicles on structured roads. The objective is to design a trajectory planning algorithm that can ensure vehicle safety and comfort and satisfy the rationality of...
This paper proposes a golden sine grey wolf optimizer (GSGWO) that can be adapted to the obstacle-crossing function to solve the path planning problem of obstacle-crossable robot. GSGWO has been improved from the gray wolf optimizer (GWO), which prov...
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...
Road obstacle detection is an important component of intelligent assisted driving technology. Existing obstacle detection methods ignore the important direction of generalized obstacle detection. This paper proposes an obstacle detection method based...
This paper describes an obstacle avoidance system for low-cost Unmanned Aerial Vehicles (UAVs) using vision as the principal source of information through the monocular onboard camera. For detecting obstacles, the proposed system compares the image o...
To address the emergency obstacle-avoidance problem of intelligent vehicles on structured roads, this paper proposes an integrated planning and control method that combines an improved Artificial Potential Field (APF) with fuzzy Model Predictive Cont...
This study aims to solve the issue of the safe navigation of autonomous underwater vehicles (AUVs) in an unknown underwater environment. AUV will encounter canyons, rocks, reefs, fish, and underwater vehicles that threaten its safety during underwate...
The dynamic model of a wheeled wall-climbing robot exhibits stage-specific changes when traversing different types of obstacles and during various stages of obstacle negotiation. Previous studies often employed remote control methods for obstacle-cro...
This study presents a Tau-theory-based guidance methodology for obstacle avoidance in low-altitude, high-speed rotorcraft operations, especially within obstacle-dense and degraded visual environments (DVEs). A geometric approach is employed to develo...
This paper addresses the team orienteering problem applied to unmanned aerial vehicles (UAVs), considering obstacle avoidance and environmental factors such as wind conditions and payload weight. The objective is to optimize UAV routes to maximize co...
ST-graph-based DP–QP speed planning may suffer from incomplete and discontinuous feasible-region boundaries due to discrete obstacle projection and coarse DP search. These boundary defects can degrade the feasibility and quality of subsequent Q...
This paper presents a safe guidance strategy for affine formations based on the Interference Vector Method (IVM) to address dynamic formation guidance and collision avoidance for Autonomous Surface Vessels (ASVs) in multi-obstacle environments. An af...
Autonomous unmanned-aircraft obstacle avoidance is a mature research area, but comparatively less work addresses controller-level behavior motivated by European ground-risk and no-overflight considerations during an inspection mission that is already...
Underground obstacle detection is the premise of unmanned driving. Aiming at the problem of obstacle detection in coal mines using a millimeter-wave radar, this paper proposes a filtering algorithm for invalid targets in roadways. Firstly, the target...
This paper proposes an optimized trajectory planner and motion planner framework, which aim to deal with obstacle avoidance along a reference road for autonomous driving in unstructured environments. The trajectory planning problem is decomposed into...
To improve the speed and dynamic adaptability of robotic arm trajectory planning, a collision-free optimal trajectory planning method combining non-uniform adaptive time meshing and bounding box collision detection was proposed. First, the dynamics a...
This paper presents a novel motion planning framework for mobile robots operating in dynamic and uncertain environments, with an emphasis on accurate trajectory prediction and safe, efficient obstacle avoidance. The proposed approach integrates searc...
Negative obstacles such as potholes and road collapses on unstructured roads in open-pit mining areas seriously affect the safe transportation of autonomous trucks. In this paper, we propose a real-time negative obstacle detection method for self-dri...
Environment perception is a key part of robot self-controlled motion. When using vision to accomplish obstacle detection tasks, it is difficult for deep learning methods to detect all obstacles due to complex environment and vision limitations, and i...
Various navigation tasks involving dynamic scenarios require mobile robots to meet the requirements of a high planning success rate, fast planning, dynamic obstacle avoidance, and shortest path. PRM (probabilistic roadmap method), as one of the class...
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed ob...
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...
This paper aims to develop a new mobile robot path planning algorithm, called generalized laser simulator (GLS), for navigating autonomously mobile robots in the presence of static and dynamic obstacles. This algorithm enables a mobile robot to ident...
This paper proposes a speed-adaptive autonomous driving path-tracking framework based on the soft actor–critic (SAC) and pure pursuit (PP) methods, named the SACPP controller. The framework first analyzes the obstacles around the vehicle and pl...
Tracked inspection robots have demonstrated their versatility in a wide range of applications. However, challenges arising from issues such as skidding and slipping have posed obstacles to achieving precise and efficient trajectory control. This pape...
In this study, we propose adaptive locomotion for an autonomous multilegged walking robot, an image infilling method for terrain classification based on a combination of speeded up robust features, and binary robust invariant scalable keypoints (SURF...
of 9