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We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner...
The goal of the work in this paper is to use occupancy grid in integrating safety distances with the planning strategy for autonomous vehicle navigation. The challenge is to avoid static and dynamic obstacles at high speed with respect to some specific road rules while following a global reference trajectory. Our local trajectory planning algorithm is based on the method of clothoid tentacles. It...
This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be...
In this paper, the problem of the recovery path planning and guidance for UUV (Unmanned Underwater Vehicle) in unknown ocean environment is solved. First, a DD-RRT algorithm is proposed to construct the path avoiding obstacles and incurs the minimum cost from a starting point to a target point. Then UUV is guided along the planned path to the target point by heading-vector control. The algorithm is...
Modern transportation systems suffer from a variety of problems. The most notable among these problems is traffic congestions. Traffic congestions have been a subject for much of research discussing the impact of the traffic on the environment, the financial cost it incurs, and the safety risks it poses. The research of this paper alternatively suggests a solution model to mitigate the congestion...
Robot path planning in human environments benefits significantly from considering more than obstacle avoidance, and recent works in this area proposed safety and comfort considerations. One shortcoming of current approaches is that humans' behavior is modeled as independent of robot's motions. In this work, we aim to give this anticipation ability to a robot by simulating people's reaction to robot's...
Traffic congestion has seriously hindered the healthy and sustainable development of economy and society. Many research have been done to address the issue. Intelligent Transportation System (ITS) is key to improve the performance of urban traffic. As one of the essential components of an ITS, green ITS navigation for people and freight is critical, its research must base on the accurate grasp of...
Inspired by the advancement of vehicular networks and increasing concerns on driving safety, this paper proposes a framework of Context-Awareness Safety Driving (CASD). In vehicular networks, vehicles communicate with each other and share a variety of information. By utilizing those capability, CASD provides vehicles with a class-based safety action plan that considers three situations such as the...
So far, autonomous order picking (commissioning) systems have not been able to meet the stringent demands regarding speed, safety, and accuracy of real-world warehouse automation, resulting in reliance on human workers. In this letter, we target the next step in autonomous robot commissioning: automatizing the currently manual order picking procedure. To this end, we investigate the use case of autonomous...
In this paper, we present an efficient human safety framework of robotic systems that guaranties human safety in human-robot shared workspace. The general framework is composed of three stages: 1) human detection and tracking algorithms are used to detect and track the human in unknown dynamic environments; 2) human social signals is estimated; 3) human states and their social signals are integrated...
We propose a motion planning algorithm that reasons about tradeoffs between the discrete decision problems and continuous optimization problems faced by a mobile robot navigating through a cluttered environment. Discrete decisions typically involve transient options as the robot selects corridors to traverse. By contrast, optimization occurs within open spaces among homotopic paths. We utilize properties...
The article analyses the impact of fitness function scaling on the quality of the solution to the problem of planning the path for a moving object using the evolutionary method. The function scaling decreases the selective pressure, which facilitates leaving the local optimum in the calculation process and further exploration of the solution space. The performed investigations have proved that the...
The navigation-aid information is the basic and one of the most important information for the marine traffic safety. The reasonability of the placement of aids to navigation will directly influence the marine traffic safety, and also have a close relation with the efficiency of the maintenance of the aids. Because of the development of ports and fairways, the increasing demands of the seafarers on...
An automated method for sea route design based on electronic chart is developed to improve the security and reliability of planned sea route. First, the obstacle projection matrix is built based on the environmental information provided by electronic chart. Then a basic path is built quickly by using the adjacent relation among girds. Finally, elastic algorithm was used to optimize the basic path...
The main objective of this paper is to develop an autonomous navigation system for robot arms so that they can operate in complex environments, such as kitchen, factory, etc. In order to solve the problem of planning in the dynamic environments, we proposed a CT-RRTs (bi-direction RRTs in configuration time space) planner, which can make the robot arm reach goal successfully in the partially known...
Recently, shipping industries has become required safety ship operation with fewer crews. On the other hand, recent progress of information and telecommunication technologies is remarkable. The industries would also like to employ these technologies to make the ship operation safer and more efficient. In this study, we propose and discuss collision avoidance support system. The support system proposed...
This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. The vehicle navigation problem is formulated as a...
In allusion to the autonomous behavior of autonomous underwater vehicle (AUV), it is difficult to research its adaptability and reaction to the environment at present. According to the problems of motion planning in uncertain environment, behavior models were proposed and explained for AUV horizontal motion. Models for goal forward behavior, obstacle avoiding behavior and macro-behavior for horizontal...
For a robot to move autonomously in an unknown dynamic environment, a real-time motion generation is necessary. Especially, safety motion generations are important. There are a lot of methods for making safe motion. For example, it is popular to check only around the robot with additional sensors and avoid obstacles detected by the sensors, though, the coordination problem between global trajectory...
With the fast development of transportation at sea, establishing vessel traffic services (VTS) is reaching a new high tide in order to more effectively guarantee vessel traffic safety, protect maritime environment and increase traffic efficiency. Formal safety assessment (FSA) has been considered a powerful tool that can help ensure that limited resources are allocated scientifically for these purposes...
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