scholarly journals A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

2015 ◽  
Vol 86 ◽  
pp. 11-20 ◽  
Author(s):  
Bai Li ◽  
Zhijiang Shao
Keyword(s):  
Motion Planning ◽  
Autonomous Vehicle ◽  
Planning Method

Construction of Motion Planning Method for Autonomous Vehicle in Cyclist Overtaking Scenario

2018 ◽  
Vol 2018 (0) ◽  
pp. 1P2-A11
Author(s):  
Yuki WATANABE ◽  
Yuichi SAITO ◽  
Masahiko TANIMOTO ◽  
Haruo NAKATA ◽  
Yosuke ISHIWATARI ◽  
...  
Keyword(s):  
Motion Planning ◽  
Autonomous Vehicle ◽  
Planning Method

scholarly journals Hybrid Motion Planning Method for Autonomous Robots Using Kinect Based Sensor Fusion and Virtual Plane Approach in Dynamic Environments

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Doopalam Tuvshinjargal ◽  
Byambaa Dorj ◽  
Deok Jin Lee
Keyword(s):  
Motion Planning ◽  
Sensor Fusion ◽  
Field Experiments ◽  
Autonomous Robots ◽  
Autonomous Vehicle ◽  
Dynamic Environments ◽  
Obstacle Detection ◽  
Planning Method ◽  
Moving Obstacles ◽  
Virtual Plane

A new reactive motion planning method for an autonomous vehicle in dynamic environments is proposed. The new dynamic motion planning method combines a virtual plane based reactive motion planning technique with a sensor fusion based obstacle detection approach, which results in improving robustness and autonomy of vehicle navigation within unpredictable dynamic environments. The key feature of the new reactive motion planning method is based on a local observer in the virtual plane which allows the effective transformation of complex dynamic planning problems into simple stationary in the virtual plane. In addition, a sensor fusion based obstacle detection technique provides the pose estimation of moving obstacles by using a Kinect sensor and a sonar sensor, which helps to improve the accuracy and robustness of the reactive motion planning approach in uncertain dynamic environments. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles even in hostile environments where conventional method failed.

ADD-RRV for motion planning in complex environments

Robotica ◽  
2021 ◽  
pp. 1-18
Author(s):  
Peng Cai ◽  
Xiaokui Yue ◽  
Hongwen Zhang
Keyword(s):  
Principal Component Analysis ◽  
Motion Planning ◽  
Configuration Space ◽  
Principal Component ◽  
Component Analysis ◽  
Planning Method ◽  
Complex Environments ◽  
Local Configuration ◽  
Narrow Passage

Abstract In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.

Research on autonomous exploration motion planning method of mobile robots for unstructured scenarios

2021 ◽  
Author(s):  
Xuehao Sun ◽  
Shuchao Deng ◽  
Baohong Tong ◽  
Shuang Wang ◽  
Shuai Ma ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Planning Method ◽  
Autonomous Exploration

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

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