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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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Avoidance of High-Speed Obstacles Based on Velocity Obstacles
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018For obstacles moving with high speeds, existing motion planning methods can rarely guarantee collision avoidance. This paper proposes a viable two-period velocity obstacle algorithm where one period predicts potential collisions within a limited time horizon, and the second period foresees collisions beyond that horizon.
Zhongchang Liu +5 more
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Obstacle Avoidance for Unmanned Aerial Vehicles
Journal of Intelligent & Robotic Systems, 2011This work is framed within the PITVANT project and aims to contribute to the development of obstacle avoidance techniques for unmanned aerial vehicles (UAVs). The paper describes the design, implementation and experimental evaluation of a potential field obstacle avoidance algorithm based on the fluid mechanics panel methods. Obstacles and the UAV goal
Gonçalo Charters Santos Cruz +1 more
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Trajectory Generation and Obstacle Avoidance
IMA Journal of Mathematical Control and Information, 1987Manipulation systems with n degrees of mobility, modelled on a smooth n- dimensional manifold C (the configuration space), and smoothly mapped to W (the working space) are considered. The topology of the space of all continuous paths in W is discussed, using the methods of algebraic topology.
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Obstacle Avoidance for Manipulators
Systems Analysis Modelling Simulation, 2003This article presents an obstacle avoidance approach for manipulators based on an obstacle avoidance path planning mechanism. Although the obstacle dealt with in the article is of the cubic type, it can be transformed to the spherical type as shown in the article, which has a simpler analytical description.
Zhang, Wei, Sobh, Tarek M.
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Planning and obstacle avoidance in mobile robotics
Robotics and Autonomous Systems, 2012The paper focuses on the navigation subsystem of a mobile robot which operates in human environments to carry out different tasks, such as transporting waste in hospitals or escorting people in exhibitions. The paper describes a hybrid approach (Roaming Trails), which integrates a priori knowledge of the environment with local perceptions in order to ...
SGORBISSA, ANTONIO +1 more
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Stereovision-Based Algorithm for Obstacle Avoidance
2009This work presents a vision-based obstacle avoidance algorithm for autonomous mobile robots. It provides an efficient solution that uses a minimum of sensors and avoids, as much as possible, computationally complex processes. The only sensor required is a stereo camera. The proposed algorithm consists of two building blocks.
Lazaros Nalpantidis +2 more
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Obstacle Avoidance Technology, Obstacle Avoidance Method, Obstacle Avoidance System
2022openaire +1 more source