286,836 research outputs found
Static and Dynamic Path Planning Using Incremental Heuristic Search
Path planning is an important component in any highly automated vehicle
system. In this report, the general problem of path planning is considered
first in partially known static environments where only static obstacles are
present but the layout of the environment is changing as the agent acquires new
information. Attention is then given to the problem of path planning in dynamic
environments where there are moving obstacles in addition to the static ones.
Specifically, a 2D car-like agent traversing in a 2D environment was
considered. It was found that the traditional configuration-time space approach
is unsuitable for producing trajectories consistent with the dynamic
constraints of a car. A novel scheme is then suggested where the state space is
4D consisting of position, speed and time but the search is done in the 3D
space composed by position and speed. Simulation tests shows that the new
scheme is capable of efficiently producing trajectories respecting the dynamic
constraint of a car-like agent with a bound on their optimality.Comment: Internship Repor
Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles
This research compares 3D versus 4D (three spatial dimensions and the time dimension) multi-objective and multi-criteria path-planning for unmanned aerial vehicles in complex dynamic environments. In this study, we empirically analyse the performances of 3D and 4D path planning approaches. Using the empirical data, we show that the 4D approach is superior over the 3D approach especially in complex dynamic environments. The research model consisting of flight objectives and criteria is developed based on interviews with an experienced military UAV pilot and mission planner to establish realism and relevancy in  unmanned aerial vehicle flight planning. Furthermore, this study incorporates one of the most comprehensive set of criteria identified during our literature search. The simulation results clearly show that the 4D path planning approach is able to provide solutions in complex dynamic environments in which the 3D approach could not find a solution
Wavefront Propagation and Fuzzy Based Autonomous Navigation
Path planning and obstacle avoidance are the two major issues in any
navigation system. Wavefront propagation algorithm, as a good path planner, can
be used to determine an optimal path. Obstacle avoidance can be achieved using
possibility theory. Combining these two functions enable a robot to
autonomously navigate to its destination. This paper presents the approach and
results in implementing an autonomous navigation system for an indoor mobile
robot. The system developed is based on a laser sensor used to retrieve data to
update a two dimensional world model of therobot environment. Waypoints in the
path are incorporated into the obstacle avoidance. Features such as ageing of
objects and smooth motion planning are implemented to enhance efficiency and
also to cater for dynamic environments
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