Virtual force field algorithm for a behaviour-based autonomous robot in unknown environments
D. Nakhaei Nia,H S Tang,Babak Karasfi,O. Motlagh,A C Kit +4 more
- 01 Feb 2011
- Vol. 225, Iss: 1, pp 51-62
TL;DR: A real-time motion-planning approach which lies in the integration of three techniques: fuzzy logic, virtual force field, and boundary following, which differs from previous works in terms of using different algorithms for planning robot motion.
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Abstract: The present paper describes a real-time motion-planning approach which lies in the integration of three techniques: fuzzy logic (FL), virtual force field (VFF), and boundary following (BF). The FL algorithm is used for velocity control based on sonar readings. The path-planning algorithm is based on the VFF and BF methods. The proposed navigation system differs from previous works in terms of using different algorithms for planning robot motion. Other improvements concern functional and computational aspects of the design and integration of the modules. The robot shows robust performance in complex situations and local minimum scenarios. Simulation results show the effectiveness of the developed system in various environments with long walls, U-shaped, maze-like, and other types of clutter.
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Citations
An Overview of Nature-Inspired, Conventional, and Hybrid Methods of Autonomous Vehicle Path Planning
TL;DR: This paper presents an overview of nature-inspired, conventional, and hybrid path planning strategies employed by researchers over the years for mobile robot path planning problem, and the main strengths and challenges of path planning methods employed were identified and discussed.
A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment
Danial Nakhaeinia,Pierre Payeur,Tang Sai Hong,Babak Karasfi +3 more
- 01 Aug 2015
TL;DR: A new hybrid control architecture for solving the navigation problem of mobile robot in an unknown dynamic environment based on an actual-virtual target switching strategy which is a combination of deliberative and reactive architectures which consists of three layers: modeling, planning and reaction.
A reactive collision avoidance approach for mobile robot in dynamic environments
TL;DR: In this article, a reactive obstacle avoidance approach for mobile robot navigation in unknown and dynamic environment is described, which steers the robot to move among unknown obstacles and towards a target without collision.
A behavior-based approach for collision avoidance of mobile robots in unknown and dynamic environments
Danial Nakhaeinia,Babak Karasfi +1 more
TL;DR: The contribution of this approach is solving navigation difficulties presented in previous approaches for successful motion of the robot towards the target in troublesome scenarios such as narrow passages, very dense, cluttered and dynamic environments.
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A reflexive vehicle control architecture based on a neural model of the cockroach escape response
Ravi Vaidyanathan,Ravi Vaidyanathan,Chun Ta Chen,Chan Doo Jeong,C.A. Williams,Yochiro Endo,Roy E. Ritzmann,Roger D. Quinn +7 more
- 01 May 2012
TL;DR: A biologically inspired architecture for rapid real-time control of autonomous or semi-autonomous vehicles based on a neural model of the escape response of the American cockroach, Periplaneta americana, which functions as a reflexive subsystem that integrates smoothly with higher-level planning and behavioral control systems.
15
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