Variable-resolution velocity roadmap generation considering safety constraints for mobile robots

2012 ◽  
Author(s):  
Jingyu Xiang ◽  
Yuichi Tazaki ◽  
Tatsuya Suzuki ◽  
B. Levedahl
Keyword(s):  
Mobile Robots ◽  
Variable Resolution ◽  
Safety Constraints

scholarly journals Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Yong Ma ◽  
Hongwei Wang ◽  
Langxiong Gan ◽  
Min Guo ◽  
Liwen Huang ◽  
...  
Keyword(s):  
Conflict Resolution ◽  
Path Planning ◽  
Mobile Robots ◽  
Shortest Paths ◽  
Automatic Generation ◽  
Planning Problem ◽  
Strong Point ◽  
Basic Task ◽  
Safety Constraints ◽  
Time Varying Environment

This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.

Autonomous Variable-Resolution Map Building for Mobile Robots in Unknown Environments

2012 ◽  
Vol 132 (8) ◽  
pp. 808-816
Author(s):  
Jingyu Xiang ◽  
Yuichi Tazaki ◽  
Shinkichi Inagaki ◽  
Tatsuya Suzuki
Keyword(s):  
Mobile Robots ◽  
Map Building ◽  
Variable Resolution ◽  
Unknown Environments ◽  
Resolution Map

Autonomous Variable-Resolution Map Building for Mobile Robots in Unknown Environments

2013 ◽  
Vol 186 (4) ◽  
pp. 59-69
Author(s):  
Jingyu Xiang ◽  
Yuichi Tazaki ◽  
Shinkichi Inagaki ◽  
Tatsuya Suzuki
Keyword(s):  
Mobile Robots ◽  
Map Building ◽  
Variable Resolution ◽  
Unknown Environments ◽  
Resolution Map

scholarly journals An Efficient Navigation Framework for Autonomous Mobile Robots in Dynamic Environments using Learning Algorithms

2018 ◽  
Vol 33 (2) ◽  
pp. 107-118 ◽  
Author(s):  
Xuan-Tung Truong ◽  
Hong Toan Dinh ◽  
Cong Dinh Nguyen
Keyword(s):  
Mobile Robots ◽  
Learning Algorithm ◽  
Dynamic Environment ◽  
Main Idea ◽  
Dynamic Environments ◽  
Autonomous Mobile Robots ◽  
Simulated Environment ◽  
Safety Constraints ◽  
Catch Up ◽  
Error Interaction

In this paper, we propose an efficient navigation framework for autonomous mobile robots in dynamic environments using a combination of a reinforcement learning algorithm and a neural network model. The main idea of the proposed algorithm is to provide the mobile robots the relative position and motion of the surrounding objects to the robots, and the safety constraints such as minimum distance from the robots to the obstacles, and a learning model. We then distribute the mobile robots into a dynamic environment. The robots will automatically learn to adapt to the environment by their own experienced through the trial-and-error interaction with the surrounding environment. When the learning phase is completed, the mobile robots equipped with our proposed framework are able to navigate autonomously and safely in the dynamic environment. The simulation results in a simulated environment shows that, our proposed navigation framework is capable of driving the mobile robots to avoid dynamic obstacles and catch up dynamic targets, providing the safety for the surrounding objects and the mobile robots.

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