In this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coor...
This paper studies three-dimensional (3D) straight line path following and obstacle avoidance control for an underactuated autonomous underwater vehicle (AUV) without lateral and vertical driving forces. Firstly, the expected angular velocities are d...
Obstacle avoidance is a desirable capability for Unmanned Aerial Systems (UASs)/drones which prevents crashes and reduces pilot fatigue, particularly when operating in the Beyond Visual Line of Sight (BVLOS). In this paper, we present QuickNav, a sol...
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...
To solve the problem of poor real-time performance in path planning algorithms for unmanned aerial vehicles (UAVs) in low-altitude urban logistics, a path planning method combining modified Beetle Antennae Search (BAS) with the Simulated Annealing (S...
This paper presents a perception-aware path planner for active SLAM in dynamic environments using micro-aerial vehicles (MAV). The “Next-Best-View” planner (NBVP planner) is combined with an active loop closing, which is called the Active...
The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs...
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...
In this paper, we propose an innovative approach for the path planning of Uninhabited Aerial Vehicles (UAVs) that combines an advanced Genetic Algorithm (GA) for optimising missions in advance and a geometrically based obstacle avoidance algorithm (Q...
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...
Robotic autonomous navigation in dynamic environments is a complex problem, as traditional planners may fail to take dynamic obstacles and their variables into account. The Strategy-based Dynamic Object Velocity Space (S-DOVS) planner has been propos...
In this paper, a robotic Multitasking Intelligent Nurse Aid (MINA) is proposed to assist nurses with everyday object fetching tasks. MINA consists of a manipulator arm on an omni-directional mobile base. Before the operation, an augmented reality int...
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...
In this work, a real-time collision avoidance algorithm was presented for autonomous navigation in the presence of fixed and moving obstacles in building environments. The current implementation is designed for autonomous navigation between waypoints...
Path planning and collision avoidance during autonomous navigation in unknown environments is a crucial issue for unmanned surface vehicles (USVs). This paper improves the traditional D* Lite algorithm and achieves multi-goal path planning and collis...
The harmonic potential field of an incompressible nonviscous fluid governed by the Laplace’s Equation has shown its potential for being beneficial to autonomous unmanned vehicles to generate smooth, natural-looking, and predictable paths for ob...
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable. Existing wor...
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...
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 application of orchard inspection robots has become increasingly widespread. How-ever, achieving autonomous navigation in unstructured environments continues to pre-sent significant challenges. This study investigates the Simultaneous Localizatio...
Path planning for robotic manipulators has proven to be a challenging issue in industrial applications. Despite providing precise waypoints, the traditional path planning algorithm requires a predefined map and is ineffective in complex, unknown envi...
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...
In order to avoid the influence of the test system itself on the autonomous navigation and performance test accuracy of unmanned surface vehicles (USVs), a test method for the obstacle-avoidance performance of USVs based on mobile-buoy–shore mu...
This paper presents a multi-objective coverage flight path planning algorithm that finds minimum length, collision-free, and flyable paths for unmanned aerial vehicles (UAV) in three-dimensional (3D) urban environments inhabiting multiple obstacles f...
In order to solve the problem of obstacle avoidance for unmanned surface vehicles (USV), based on the classic RRT algorithm and Velocity Obstacle principle, an improved RRT algorithm is proposed. For the situation of the extension direction of the pa...
The basic functions of an autonomous vehicle typically involve navigating from one point to another in the world by following a reference path and analyzing the traversability along this path to avoid potential obstacles. What happens when the vehicl...
One of the most challenging problems in the domain of autonomous aerial vehicles is the designing of a robust real-time obstacle detection and avoidance system. This problem is complex, especially for the micro and small aerial vehicles, that is due...
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...
The key factor for autonomous navigation is efficient perception of the surroundings, while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied environment typical for...
Large ships are typically with large inertia and longtime delay in motion, in prevailing collision avoidance methods, their maneuverability is generally neglected, there could be a dangerous situation if the system fails to control the ship course as...
The paper addresses path planning and path-following problems in an unknown complex environment for an underactuated autonomous underwater vehicle (AUV). The AUV is required to follow a given reference path represented as a sequence of smoothly joine...
This paper details the development of a collision avoidance algorithm for unmanned surface vehicles (USVs) and its validation using free-running tests. The USV, designed as a catamaran, incorporates a variety of sensors for its guidance, navigation,...
Collision avoidance and path planning are essential for ensuring safe and efficient UAV operations, particularly in applications like drone delivery and Advanced Air Mobility (AAM). This study introduces an improved algorithm for three-dimensional pa...
Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies...
The application of autonomous driving system (ADS) technology can significantly reduce potential accidents involving vulnerable road users (VRUs) due to driver error. This paper proposes a novel hierarchical deep reinforcement learning (DRL) framewor...
Multi-vessel formation shipping demonstrates significant potential for enhancing maritime transportation efficiency and economy. However, existing route planning systems inadequately address the unique challenges of formations, where traditional meth...
Autonomous underwater vehicles (AUVs) tasked with seafloor coverage require a robust integration of path planning and control strategies to operate in adverse real-world environments including obstacles, disturbances, and physical constraints. In thi...
In the contemporary battlefield where complexity has increased, the enhancement of the role and ability of missiles has become crucial. Thus, missile guidance systems are required to be further developed in a more intelligent and autonomous way to de...
In lunar exploration missions, rovers must navigate multiple waypoints within strict time constraints while avoiding dynamic obstacles, demanding real-time, collision-free path planning. This paper proposes a digital twin-enhanced hierarchical planni...
A two-stage ship path planning method is proposed, based on the Rapid-exploring Random Tree (RRT) algorithm, which is composed of global path planning and local path planning, addressing the important problem of finding an economical and safe path fr...
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...
High-precision positioning and multi-target detection have been proposed as key technologies for robotic path planning and obstacle avoidance. First, the Cartographer algorithm was used to generate high-quality maps. Then, the iterative nearest point...
In order to complete various tasks automatically, robots need to have onboard sensors to gain the ability to move autonomously in complex environments. Here, we propose a combined strategy to achieve the real-time, safe, and smooth autonomous motion...
In the present day, unmanned aerial vehicles become seemingly more popular every year, but, without regulation of the increasing number of these vehicles, the air space could become chaotic and uncontrollable. In this work, a framework is proposed to...
Recently, various studies related to the development of unmanned vehicles have been conducted around the world. In particular, unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) have been developed and utilized for various purposes....
Path planning for sailboat robots is a challenging task particularly due to the kinematics and dynamics modelling of such kinds of wind propelled boats. The problem is divided into two layers. The first one is global were a general trajectory compose...
This paper presents a rapidly exploring random tree (RRT) algorithm with an effective post waypoint shift, which is suitable for the path planning of a wheeled mobile robot under kinematic constraints. In the growth of the exploring tree, the nearest...
Autonomous ship navigation systems must ensure safe and efficient route planning while complying with the International Regulations for Preventing Collisions at Sea (COLREGs). This paper presents an integrated navigation framework that combines chart...
The analysis of utilising unmanned aerial vehicles (UAVs) to form flying networks in obstacle conditions and various algorithms for obstacle avoidance is conducted. A planning scheme for deploying a flying LiFi network based on UAVs in a production f...
Planning and scheduling in construction heavily depend on current information about the state of construction processes. However, the acquisition process for visual data requires human personnel to take photographs of construction objects. We propose...
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