Papers by Keyword: Path Planning

Abstract: For autonomous vehicles an important problem is to plan and accurately follow the optimal trajectory between the start point and the target, without collision with the obstacles placed in the environment. In order to obtain a continuous motion along the planned path for a vehicle with navigation assistants, especially when avoiding obstacles, the transition between a straight segment and circle arcs has to be done through using an additional curve. This paper present an algorithm based on clothoid curves for optimal steering using as case a vehicle with navigation assistants. The developed algorithm has been tested in a real environment and results have been presented.

Abstract: In the field of mobile robotics, the process of robot localization and global trajectory planning in robot operating scenes, that are completely or partially known, represents one of the main issues that are essential for providing the desired robot functionality. This paper introduces the basic elements of path planning for an autonomous mobile robot equipped with sonar sensors, operating in a static environment. The path planning process is initially performed by using a known map. Next, the sonar sensors are used to localize the robot, based on obstacle avoidance techniques. The effectiveness and efficiency of the algorithm proposed in this paper is demonstrated by the simulation results.

Abstract: In this paper we present a method of reducing the computational complexity necessary in path planning for a car-like robot in order to generate the optimal path according to the constrains set by the user. The proposed method implies adding the following constrains: setting the maximum and minimum distance between the possible paths and the obstacles placed in the virtual environment in order to reduce the simulation time and to obtain a real-time application and to remove the paths that contain unnecessary turns around the environment without avoiding an obstacle. By applying this method the simulation complexity is reduced and the optimal path is easier to find.

Abstract: Aiming at the path planning for intelligent vehicle in complex environment, local minimum problem is solved by the way of setting a virtual barrier point. And fuzzy controller is designed to make up some inherent shortcomings of artificial potential field method and safeguards the reliability of the path planning and path smoothness.

Abstract: This paper presents a path-planning method of laser tool in 5-axis laser quenching for complicated surface. In this method, two main factors are concerned which include: (1) Planning the CC paths on the complicated surface quenched to maintaining laser tool scanning speed constant easily in quenching process; (2) Diminishing the chord deviation between the actual value and its approximation by choosing different interpolation methods according to the curvature radius of CC points which is being quenched. This method effectively ensures the part’s laser quenching quality.

Abstract: Intelligent Ground Vehicle needs real-time communication system and a better architecture to handle a variety of sensors. This paper presents a fast communication and efficient architecture for intelligent vehicle (FCEA-IV). The vehicle contains three control centers, communicating with each other based on real-time control system. And also it has a hybrid mode. In auto driving mode, it will go under the better path, calculated by considering comprehensive environmental factors. While in active control mode, the vehicle will be controlled by remote commands. First of all, we will discuss RCS (real-time control system) and why we choose it. Then the overview of system, including architecture and control structure will be discussed. Further some communication message and work flow will be studied in detail. At last we share some experiments to test the efficiency of the communication system.

Abstract: The purpose of this paper is to suggest and examine a control system with a fuzzy controller and a fuzzy-PID controller to solve the problem of mobile robot path planning. The environment information about obstacles and the goal has been detected by using sensors. The system divides environment situations into two types the obstacle mode and non-obstacle mode. In view of the oscillation problem existing in fuzzy control when there is no obstacle, this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non-obstacle mode. The robot performs the real-time planning choice by path planning selector, and the control system is simulated by Matlab software. The simulation result shows that the control strategy has the characteristics of faster response, better real-time performance and achieves a better path from the start point to the target point.

Abstract: Solar energy is the largest available renewable energy for enhancing the endurance of a solar-powered unmanned aerial vehicle (UAV). However, harnessing solar energy is a great challenge because the power output efficiency of solar module systems is only 15% to 30%. A solar-powered UAV has the potential to outperform a battery-powered UAV, particularly in tasks involving a pseudo satellite that requires long operating hours. Atmospheric conditions and geographical location are the main causes of the poor performance of solar modules. Despite the improvements in solar cell efficiency over the years, solar module systems can still barely convert half of the sun’s power into electricity. This limitation hinders the use of current solar module systems for harvesting solar energy. Recent studies have focused not only on the type of solar cells but also on the positioning system. However, understanding and research on the solar irradiance intensity, as well as on the effect of daylight duration on the power output, remain lacking. A comprehensive model was developed to address this gap and investigate how the movement of the sun movement affects the performance of solar module systems. This simulation model found that daylight duration is more important than available solar irradiance. Higher solar irradiance and daylight duration corresponds to a higher power output of the solar module system. Daylight duration also depends on latitude where higher latitudes lead to longer daylight duration. On the other hand, longitudinal coordinates and elevation have minor effects on the estimation of daylight duration. Therefore, the northern hemisphere has more advantages than southern hemisphere during summer and vice versa.

Abstract: With the continuous development of modern sensor technology, coupled with the integration of artificial intelligence and a variety of emerging computer technology, it makes robots more intelligent and diverse. So the ability of the robot to complete the task is also valued and widely used. In this paper, the whole covered area of the local path planning uses a fuzzy control algorithm, which uses the robustness and an action of perception based on the biological behavior of the fuzzy control algorithm combined with itself. For obstacle avoidance system of mobile robots, we put forward the avoidance strategy of fully contacting the obstacles. And we have conducted a deep study about the theory and implementation methods.

Abstract: There are numerous numbers of methods that have been introduced to the Unmanned Ground Vehicle (UGV) to find its optimal path. The purpose of this paper is to navigate a cost effective UGV known as MG-TruckS with optimal path planning in an outdoor environment. A Modified Virtual Semi Circle approach is proposed based on situated-activity paradigm. This approach is divided into two phase to compute a free collision path planning; detection and avoidance phase. Implementation of five ultrasonic range finder sensors with a very small blind zone created on purpose and the formation of three layers of influence zone shows the optimized path planning without making any unnecessary obstacle avoidance being computed.