Results 221 to 230 of about 18,155 (261)
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Time-optimal obstacle avoidance
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This paper presents a method for generating near-time optimal trajectories in cluttered environments for manipulators with invariant inertia matrices. For one obstacle, the method generates the time-optimal trajectory by minimizing the time-derivative of the return (cost) function for this problem, satisfying the Hamilton-Jacobi-Bellman (HJB) equation.
Satish Sundar, Zvi Shiller
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2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 2012
In this paper we present an obstacle avoidance algorithm based on Particle Swarm Optimization (PSO), which is a stochastic optimization technique. The PSO algorithm was modified in order to solve the proposed problem, in our case each particle of the PSO represents a new position, during the PSO algorithm each particle is tested to see if it represents
Carlos López-Franco +3 more
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In this paper we present an obstacle avoidance algorithm based on Particle Swarm Optimization (PSO), which is a stochastic optimization technique. The PSO algorithm was modified in order to solve the proposed problem, in our case each particle of the PSO represents a new position, during the PSO algorithm each particle is tested to see if it represents
Carlos López-Franco +3 more
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A smooth, obstacle-avoiding curve
Computers & Graphics, 2006Abstract An algorithm for finding a smooth, obstacle-avoiding curve in the plane can be quite complicated. The process usually involves finding one or more feasible polyline paths, choosing a desirable path (for example the shortest path), and smoothing the polyline path to give a curve that avoids the obstacles. This paper is concerned with the last
Zhong Li +2 more
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Obstacle avoidance via articulation
Journal of Robotic Systems, 1991AbstractThis article presents a practical implementation of the theory for articulation of spatial robots such as the PUMA and TRS type robots. The “Blueprint Algorithm” is introduced as a simple rule‐based planning algorithm in which the geometry of interference takes on the role of a basis in a collision‐free path planning process amongst obstacles ...
Yong J. Choi +2 more
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Obstacle avoidance in Down syndrome
Journal of Electromyography and Kinesiology, 2013The ability to avoid obstacles requires to represent the properties of the obstacle, represent the location of the obstacle relative to the body and update these representations as the body moves. Individuals with Down syndrome (DS) often have trouble avoiding obstacles, leading to increased frequency of trips and falling.
VIMERCATI, SARA LAURA +3 more
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Robotics and Autonomous Systems, 1991
Abstract In this paper, a mathematical model for avoiding obstacles by the movement of a flexible robot arm with multiple joints and expandable or contractable links in Cartesian coordinates is developed. In the model, the only decision variables are the coordinates of each joint of the robot arm with respect to the base of the robot arm, and the ...
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Abstract In this paper, a mathematical model for avoiding obstacles by the movement of a flexible robot arm with multiple joints and expandable or contractable links in Cartesian coordinates is developed. In the model, the only decision variables are the coordinates of each joint of the robot arm with respect to the base of the robot arm, and the ...
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Online sub-optimal obstacle avoidance
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2000This paper presents an online planner for suboptimal obstacle avoidance. It generates near-shortest paths incrementally by avoiding obstacles optimally one at a time. In known environments, obstacles are avoided in an order determined by a global criterion. In unknown environments, obstacles are avoided as they are detected by on-board sensors.
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Obstacle avoidance with ultrasonic sensors
IEEE Journal on Robotics and Automation, 1988A mobile robot system, capable of performing various tasks for the physically disabled, has been developed. To avoid collision with unexpected obstacles, the mobile robot uses ultrasonic range finders for detection and mapping. The obstacle avoidance strategy used for this robot is described.
Johann Borenstein, Yoram Koren
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AUV experiments in obstacle avoidance
Proceedings of OCEANS 2005 MTS/IEEE, 2005Reactive obstacle avoidance (OA) is an important step in attaining greater autonomy in autonomous underwater vehicles (AUV). For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the ...
Horner, D.P. +2 more
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Performance evaluation in obstacle avoidance
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic systems. Such an evaluation method is not only needed to compare different avoidance methods, but also to determine the operational limits of autonomous systems. This work proposes an evaluation framework which can find such limits.
Clint Nous +3 more
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