Dynamic trajectory planning for mobile robot navigation in crowded environments

2016 ◽  
Author(s):  
Stefano Primatesta ◽  
Ludovico Orlando Russo ◽  
Basilio Bona
Keyword(s):  
Mobile Robot ◽  
Trajectory Planning ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Crowded Environments ◽  
Dynamic Trajectory

scholarly journals Mobile Robot Navigation Based on Circle Recognition

2013 ◽  
Vol 64 (2) ◽  
pp. 84-91 ◽  
Author(s):  
Peter Pásztó ◽  
Peter Hubinský
Keyword(s):  
Image Processing ◽  
Visual System ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Relative Position ◽  
Robot Navigation ◽  
Recognition Task ◽  
Mobile Robot Navigation ◽  
Planning Algorithm ◽  
Navigation Method

This paper presents a navigation method for a mobile robot using a visual system. Circular marks with specific colors are used for marking the significant points of the mobile robot’s trajectory that it needs to pass. The colors of the used marks are signalizing the way of their bypassing with the mobile robot (from the left or right side). The mobile robot uses only one camera for the marks recognition task and it is able to determine its own relative position from the detected marks. The image processing and the mobile robot’s trajectory planning algorithm working in real-time are described in this paper.

DEVELOPMENT OF A CONTROL STRATEGY FOR MOBILE ROBOT NAVIGATION IN UNKNOWN TERRAIN

2019 ◽  
Author(s):  
Diego Gabriel Gomes Rosa ◽  
Carlos Luiz Machado de souza junior ◽  
Marco Antonio Meggiolaro ◽  
Luiz Fernando Martha
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Robot Navigation ◽  
Mobile Robot Navigation

Real-time road edge following for mobile robot navigation

1990 ◽  
Vol 2 (1) ◽  
pp. 35 ◽  
Author(s):  
R.A. Lotufo ◽  
A.D. Morgan ◽  
E.L. Dagless ◽  
D.J. Milford ◽  
J.F. Morrissey ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Robot Navigation ◽  
Mobile Robot Navigation

scholarly journals Path Planning and Replanning for Mobile Robot Navigation on 3D Terrain: An Approach Based on Geodesic

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Kun-Lin Wu ◽  
Ting-Jui Ho ◽  
Sean A. Huang ◽  
Kuo-Hui Lin ◽  
Yueh-Chen Lin ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Tangent Plane ◽  
Intersection Point ◽  
Mobile Robot Navigation ◽  
Complete Manifold ◽  
Geodesic Triangle ◽  
Planning Stage ◽  
3D Terrain ◽  
Bonnet Theorem

In this paper, mobile robot navigation on a 3D terrain with a single obstacle is addressed. The terrain is modelled as a smooth, complete manifold with well-defined tangent planes and the hazardous region is modelled as an enclosing circle with a hazard grade tuned radius representing the obstacle projected onto the terrain to allow efficient path-obstacle intersection checking. To resolve the intersections along the initial geodesic, by resorting to the geodesic ideas from differential geometry on surfaces and manifolds, we present a geodesic-based planning and replanning algorithm as a new method for obstacle avoidance on a 3D terrain without using boundary following on the obstacle surface. The replanning algorithm generates two new paths, each a composition of two geodesics, connected via critical points whose locations are found to be heavily relying on the exploration of the terrain via directional scanning on the tangent plane at the first intersection point of the initial geodesic with the circle. An advantage of this geodesic path replanning procedure is that traversability of terrain on which the detour path traverses could be explored based on the local Gauss-Bonnet Theorem of the geodesic triangle at the planning stage. A simulation demonstrates the practicality of the analytical geodesic replanning procedure for navigating a constant speed point robot on a 3D hill-like terrain.

PRONTO: a system for mobile robot navigation via CAD-model guidance

2002 ◽  
Vol 26 (1) ◽  
pp. 17-26 ◽  
Author(s):  
Antonios Gasteratos ◽  
Carlos Beltran ◽  
Giorgio Metta ◽  
Giulio Sandini
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Cad Model
Sign in / Sign up

Export Citation Format

Share Document