Trajectory planning with obstacle avoidance for a concrete pump Related Information

Safety-Critical Model Predictive Control with Discrete

integrator for obstacle avoidance, and also demonstrate that this method enables a racing car to safely compete with other cars in a racing competition, shown in Fig. 1. B. Related Work 1) Model Predictive Control: MPC is widely used for robotic systems, such as robotic manipulation and locomo-

GitHub - PaoPaoRobot/ICRA2021-paper-list:

Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor with Active Sensing: 517: A Peg-In-Hole Task Strategy for Holes in Concrete: 2205: Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data: Real-Time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in

A Reactive Approach to Obstacle Avoidance in Autonomous

B. Routing Extension for Obstacle Avoidance To deal with obstacles we extend our quantified target approach (depicted in Fig. 4 and 5) by an obstacle quality. There is an overall maximum distance which we call the safe horizon r max. Segments beyond it can be ignored. Obstacles within the safe horizon put a penalty on the directions leading to

A path planning strategy unified with a COLREGS collision

Aug 01, 2021 · The head-on collision avoidance path planning trajectory is demonstrated in Fig. 16(a). From the navigation trajectory results, it can be seen that the USV turned right to avoid the obstacle after detecting it. The head-on collision avoidance trajectory snapshot is displayed in Fig. 16(b). It can be seen that when the obstacle ship is detected

Reach-Avoid Games Via Mixed-Integer Second-Order Cone

obstacle avoidance in dynamic environments, although the notion of an adversarial opponent is not considered. In this area, velocity obstacles [22] and reciprocal velocity obstacles [23] have been used to reactively plan trajectories for avoid-ance, but cannot guarantee being able to find a collision-free trajectory to the goal.

Journal of Robotics Journal Impact IF 2020-2021 | Analysis

Path Planning with Obstacle Avoidance Based on Normalized R-Functions: Modeling and Analysis of Truck Mounted Concrete Pump Boom by Virtual Prototyping: Optimal trajectory planning for glass-handing robot based on execution time acceleration and jerk

COLREGs: Compliant Dynamic Obstacle Avoidance of USVs

Dynamic obstacle avoidance is essential for unmanned surface vehicles (USVs) to achieve autonomous sailing. This paper presents a dynamic navigation ship domain (DNSD)-based dynamic obstacle avoidance approach for USVs in compliance with COLREGs. Based on the detected obstacle information, the approach can not only infer the collision risk, but also plan the local avoidance path trajectory to

GitHub - PaoPaoRobot/ICRA2021-paper-list:

Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor with Active Sensing: 517: A Peg-In-Hole Task Strategy for Holes in Concrete: 2205: Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data: Real-Time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in

Manipulator trajectory planning using a MOEA

and the obstacle avoidance. Davidor [3] also applied GAs to the trajectory generation by searching the inverse kinematics solutions to pre-defined end effector robot paths. Kubota et al. [4] studied a hierarchical trajectory planning method for a redundant manipulator with a virus-evolutionary GA, running simultaneously two processes.

(PDF) Motion planning of a planar 3R manipulator utilising

Trajectory planning with obstacle avoidance for a concrete pump using harmonic potentials. Article. In this paper a trajectory planner for point-to-point motion of a concrete pump is presented

Advanced Trajectory Planning for Obstacle Avoidance of

Sep 01, 2010 · 8th IFAC Conference on Control Applications in Marine Systems Rostock-Warnemünde, Germany September 15-17, 2010 Advanced Trajectory Planning for Obstacle Avoidance of Multiple Unmanned Marine Vehicles (MUMVs) Thomas Glotzbach1, Bassam Alrifaee2, Matthias Schneider2, Marco Jacobi3, Armin Zimmermann4, Christoph Ament2 Institute for Systems and Robotics (ISR), …

(PDF) Layered Mission and Path Planning for MAV Navigation

The cost function for a cell with center c incorporates the sum of all obstacle costs h o according to Eq. 1 and the distance of the cell's center to the closest path segment s of the global plan G:cost(c) = o∈Obst. h o (dist(c, o)) + γ argmin s∈G dist(c, s).(3)The parameter γ controls how tightly the local plan is bound to the global plan.

A Hybrid Obstacle-Avoidance Method of Spatial Hyper

lished. In Section 3, the mixing qualitative and quantitative criteria are established, and the concrete realization method of the model described by the super-quadric function and the model described by the geometric function are analyzed. In Section 4, obstacle-avoiding trajectory planning using a modified modal function is analyzed.

(PDF) Elliptic net - a path planning algorithm for dynamic

Elsevier North Holland, planning algorithm that can be used in simple, but dy- New York. namic environments. An optimal trajectory is usually Khatib, O. (1986). Real-time obstacle avoidance for manip- situated close to a line connecting an actual robot's ulators and mobile robots.

(PDF) The application of harmonic functions to robotics

Trajectory planning with obstacle avoidance for a concrete pump using harmonic potentials. Article. In this paper a trajectory planner for point-to-point motion of a concrete pump is presented

Obstacle Avoidance - an overview | ScienceDirect Topics

Mar 06, 2017 · An obstacle-avoidance behaviour which consists of the individuals' ability to change direction of motion when the execution of a motor action produced a collision with an obstacle. This behaviour results from the combination of: (a) the same control rule that led to behaviour #2 and that makes the robot turn toward the direction of the

Self-Driving-Cars/Module6-Reactive_Planning_in_Static

For path planning and trajectory optimization, we often focus on kinematic models to make the motion planning problem more computationally tractable and leave the issues raised by the simplification of the dynamics to the controller. Varying Input for Obstacle Avoidance. and times one for each point in the path. Let's look at a concrete

(PDF) Manipulator trajectory planning using a MOEA | Paulo

This paper addresses the planning of trajectories, meaning the development of an algorithm to find a continuous motion that takes the robotic manipulator from a given starting configuration to a desired end position in the workspace without colliding with any obstacle.Several single-objective methods for trajectory planning, collision avoidance

Infinite-dimensional decentralized damping control of

The control design for decentralized active damping of large-scale manipulators with hydraulic actuation is considered in a distributed-parameter fram…

Prior Knowledge of Target Direction and Intended Movement

Jan 19, 2017 · regime of movement (trajectory to one specific target), with probabilistic weights predicted by planning activities. The probability of target direction was estimated from the PMd during the planning period. However, for a more complex task such as obstacle-avoidance task, it is still unknown whether the neuraldecoder combined with only target