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The relationship between obstacle height and center of pressure velocity during obstacle crossing
Gait & Posture, 2008This study was performed to investigate the effect of obstacle height on the COP velocity when negotiating obstacles. Seven healthy female subjects were instructed to perform unobstructed level walking and to step over obstacles corresponding to 5%, 10%, and 15% of their height. The Parotec system was used to collect plantar foot pressure data.
Yun, Wang, Kazuhiko, Watanabe
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The curvature-velocity method for local obstacle avoidance
Proceedings of IEEE International Conference on Robotics and Automation, 2002We present a new method for local obstacle avoidance by indoor mobile robots that formulates the problem as one of constrained optimization in velocity space. Constraints that stem from physical limitations (velocities and accelerations) and the environment (the configuration of obstacles) are placed on the translational and rotational velocities of ...
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Impact of a high-velocity drop on an obstacle
Technical Physics, 2000Processes arising when a high-velocity liquid drop strikes a rigid obstacle or a liquid layer were investigated using numerical simulation. The flow pattern being formed features a complicated interaction of compression shock and expansion waves between each other and with free surfaces, the initiation of a cumulative jet flow, and the formation of ...
A. V. Chizhov, A. A. Schmidt
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The Extended Velocity Obstacle and applying ORCA in the real world
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015We describe the National Museum of Mathematics's Robot Swarm exhibit and our approach for achieving a reliable system for collision avoidance. The Robot Swarm exhibit allows visitors to program behaviors and interact with a “swarm” of small robots.
Amichai Levy +3 more
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Goal velocity obstacles for spatial navigation of multiple virtual agents
Adaptive Agents and Multi-Agent Systems, 2013We present the goal velocity obstacle for the spatial navigation of multiple virtual agents to planar goal regions in the two-dimensional workspace. Our approach uses velocity obstacles not only to compute collision-avoiding velocities with respect to ...
J. Snape, Dinesh Manocha
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Maintaining team coherence under the velocity obstacle framework
International Joint Conference on Autonomous Agents and Multiagent Systems, 2012Many multi-agent applications may involve a notion of spatial coherence. For instance, simulations of virtual agents often need to model a coherent group or crowd. Alternatively, robots may prefer to stay within a pre-specified communication range.
Andrew Kimmel +2 more
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2019 IEEE Conference on Control Technology and Applications (CCTA), 2019
In this paper, we propose a vehicle controller which attains practical obstacle avoidance while suppressing relative velocity against moving obstacles with uncertainty. For safety locomotion, obstacle avoidance is important but the observed position of obstacles are usually contaminated by noise while their motion inevitably possesses uncertainty ...
Koji Shibata +2 more
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In this paper, we propose a vehicle controller which attains practical obstacle avoidance while suppressing relative velocity against moving obstacles with uncertainty. For safety locomotion, obstacle avoidance is important but the observed position of obstacles are usually contaminated by noise while their motion inevitably possesses uncertainty ...
Koji Shibata +2 more
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Velocity obstacle-based trajectory planner for anthropomorphic arms
European Journal of ControlzbMATH Open Web Interface contents unavailable due to conflicting licenses.
Vesentini, Federico +2 more
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Vision-based avoidance of obstacles with unknown constant velocity
Proceedings of the 2010 American Control Conference, 2010This paper discusses vision-based avoidance of obstacles with unknown sizes and unknown constant velocities for four-wheel nonholonomic robots. The robot is equipped with an inertial measurement unit that provides measurements of the robot's position and velocity, and a monocular camera that detects the obstacles.
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Regulation aware dynamic path planning for intelligent ships with uncertain velocity obstacles
Ocean Engineering, 2023Huarong Zheng +2 more
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