6,107 research outputs found

    Solving the potential field local minimum problem using internal agent states

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    We propose a new, extended artificial potential field method, which uses dynamic internal agent states. The internal states are modelled as a dynamical system of coupled first order differential equations that manipulate the potential field in which the agent is situated. The internal state dynamics are forced by the interaction of the agent with the external environment. Local equilibria in the potential field are then manipulated by the internal states and transformed from stable equilibria to unstable equilibria, allowiong escape from local minima in the potential field. This new methodology successfully solves reactive path planning problems, such as a complex maze with multiple local minima, which cannot be solved using conventional static potential fields

    Downwash-Aware Trajectory Planning for Large Quadrotor Teams

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    We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the workspace, and a continuous refinement that converts the non-smooth graph plan into a set of C^k-continuous trajectories, locally optimizing an integral-squared-derivative cost. We account for the downwash effect, allowing safe flight in dense formations. We demonstrate the computational efficiency in simulation with up to 200 robots and the physical plausibility with an experiment with 32 nano-quadrotors. Our approach can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes.Comment: 8 page

    Mobile Robot Path Planning Method Using Firefly Algorithm for 3D Sphere Dynamic & Partially Known Environment

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    اذا البحث يقترح طريقة لحل مشكلة تخطيط مسار الروبوت المتحرك في ضمن بيئة شبه معروفة ثلاثية الابعاد كروية الشكل باستخدام نسخة معدلة من خوارزمية الحشرات المضيئة Firefly Algorithm والتي تمكنت بنجاح من ايجاد طريق شبه مثالي خالي من التصادم مع العوائق بسرعة وسهولة وملاحة آمنة على طول الطريق حتى الوصول للهدف. In this paper, a new method is proposed to solve the problem of path planning for a mobile robot in a dynamic-partially knew three-dimensional sphere environment by using a modified version of the Firefly Algorithm that successfully finds near optimal and collision-free path while maintaining quick, easy and completely safe navigation throughout the path to the goal

    Intelligent Robotics Navigation System: Problems, Methods, and Algorithm

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    This paper set out to supplement new studies with a brief and comprehensible review of the advanced development in the area of the navigation system, starting from a single robot, multi-robot, and swarm robots from a particular perspective by taking insights from these biological systems. The inspiration is taken from nature by observing the human and the social animal that is believed to be very beneficial for this purpose. The intelligent navigation system is developed based on an individual characteristic or a social animal biological structure. The discussion of this paper will focus on how simple agent’s structure utilizes flexible and potential outcomes in order to navigate in a productive and unorganized surrounding. The combination of the navigation system and biologically inspired approach has attracted considerable attention, which makes it an important research area in the intelligent robotic system. Overall, this paper explores the implementation, which is resulted from the simulation performed by the embodiment of robots operating in real environments

    Multiple Route Generation Using Simulated Niche Based Particle Swarm Optimization

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    This research presents an optimization technique for multiple routes generation using simulated niche based particle swarm optimization for dynamic online route planning, optimization of the routes and proved to be an effective technique. It effectively deals with route planning in dynamic and unknown environments cluttered with obstacles and objects. A simulated niche based particle swarm optimization (SN-PSO) is proposed using modified particle swarm optimization algorithm for dealing with online route planning and is tested for randomly generated environments, obstacle ratio, grid sizes, and complex environments. The conventional techniques perform well in simple and less cluttered environments while their performance degrades with large and complex environments. The SN-PSO generates and optimizes multiple routes in complex and large environments with constraints. The traditional route optimization techniques focus on good solutions only and do not exploit the solution space completely. The SN-PSO is proved to be an efficient technique for providing safe, short, and feasible routes under dynamic constraints. The efficiency of the SN-PSO is tested in a mine field simulation with different environment configurations and successfully generates multiple feasible routes
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