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Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method [PDF]

Sensors, 2017
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.
Wei Zhang, Shilin Wei, Yanbin Teng, Jianku Zhang, Xiufang Wang, Zheping Yan   +5 more
doaj   +4 more sources

Dynamic Obstacle Avoidance with Enhanced Social Force Model and DWA Algorithm Using SparkLink [PDF]

Sensors
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 an ...
Hang Yi, Ruliang Lin, Hao Wang, Yifang Wang, Cunchao Ying, Dong Wang, Lihang Feng   +6 more
doaj   +4 more sources

Enhancing Obstacle Avoidance in Dynamic Window Approach via Dynamic Obstacle Behavior Prediction

Actuators
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.
Bongsu Hahn
doaj   +4 more sources

Improved Dynamic Obstacle Mapping (iDOMap) [PDF]

Sensors, 2020
The goal of this paper is to improve our previous Dynamic Obstacle Mapping (DOMap) system by means of improving the perception stage. The new system must deal with robots and people as dynamic obstacles using LIght Detection And Range (LIDAR) sensor in ...
Ángel Llamazares, Eduardo Molinos, Manuel Ocaña, Vladimir Ivan   +3 more
doaj   +2 more sources

A Dynamic Obstacle Avoidance Method for Unmanned Surface Vehicle under the International Regulations for Preventing Collisions at Sea

Journal of Marine Science and Engineering, 2022
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 the ...
Diju Gao, Peng Zhou, Weifeng Shi, Tianzhen Wang, Yide Wang   +4 more
doaj   +3 more sources

Deep Reinforcement Learning for Dynamic Obstacle Avoidance of Mobile Robots in Indoor Environments: A Review [PDF]

Sensors
The ability of mobile robots to avoid obstacles dynamically in indoor environments is a necessary condition for achieving autonomous planning and navigation.
Jiandong Zhao, Honghua Zhao, Benwang Li, Xuyin Gong   +3 more
doaj   +2 more sources

Efficient Obstacle Detection and Tracking Using RGB-D Sensor Data in Dynamic Environments for Robotic Applications

Sensors, 2022
Obstacle detection is an essential task for the autonomous navigation by robots. The task becomes more complex in a dynamic and cluttered environment. In this context, the RGB-D camera sensor is one of the most common devices that provides a quick and ...
Arindam Saha, Bibhas Chandra Dhara, Saiyed Umer, Kulakov Yurii, Jazem Mutared Alanazi, Ahmad Ali AlZubi   +5 more
doaj   +3 more sources

SFPathFormer for spatial frequency robot navigation and obstacle avoidance [PDF]

Scientific Reports
In complex and dynamic environments, robot path planning and obstacle avoidance often suffer from significant perception noise, severe feature redundancy, and insufficient global environment structure modeling.
Zhenghao Hu, Chenxuan Ma
doaj   +2 more sources

Maritime obstacle-aware formation control for USVs with an optimized artificial potential field [PDF]

Scientific Reports
Efficient multi-USV formation control in obstacle-rich maritime environments remains challenging, primarily due to local minima, goal non-reachability, and delayed response to dynamic obstacles in conventional path planning methods.
Zhicheng Tan, Shanlin Sun, Guo Li, Liangpo Hong, Haixin Sun   +4 more
doaj   +2 more sources

Global Time-Varying Path Planning Method Based on Tunable Bezier Curves

Applied Sciences, 2023
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.
Longfei Jia, Si Zeng, Lei Feng, Bohan Lv, Zhiyuan Yu, Yuping Huang   +5 more
doaj   +1 more source