Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Goal Directed Robot Navigation In A Known Indoor Environment With Unknown Stationary And Moving Obstacles PDF full book. Access full book title Goal Directed Robot Navigation In A Known Indoor Environment With Unknown Stationary And Moving Obstacles.
| Author | : Steven James Ratering |
| Publisher | : |
| Total Pages | : 270 |
| Release | : 1992 |
| Genre | : |
| ISBN | : |
| Author | : Andrey V. Savkin |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 360 |
| Release | : 2015-09-25 |
| Genre | : Technology & Engineering |
| ISBN | : 0128037571 |
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
| Author | : |
| Publisher | : |
| Total Pages | : 744 |
| Release | : 1993 |
| Genre | : Aeronautics |
| ISBN | : |
| Author | : Richard Mellor |
| Publisher | : |
| Total Pages | : 212 |
| Release | : 1993 |
| Genre | : Mobile robots |
| ISBN | : |
| Author | : GUY FOUX Foux |
| Publisher | : |
| Total Pages | : 48 |
| Release | : 1990 |
| Genre | : |
| ISBN | : |
An algorithm for navigating a polygonal-robot, capable of translational motion in an unknown environment is described. The environment contains stationary polygonal obstacles and is bounded by polygonal walls, all of which are initially unknown to the robot. The environment is learned during the navigation process, by use of a sonar device, and new knowledge is integrated with previously acquired information. A partial map of the environment is thus obtained. The map contains parts of the obstacles that were "seen" by the robot, and the free-space between them. The obstacles in the map are transformed into a new set of enlarged polygonal obstacles. This enables treating the robot as a point instead of a polygon. The navigation problem is thus reduced to point navigation among unknown polygonal obstacles. A navigation graph is built from the transformed obstacles in the map. This graph is a partial visibility graph of the enlarged obstacles. A search is conducted on the graph for a path to the destination. The path is piecewise linear, and at its corners the robot stops, scans its environment, and updates the map, the enlarged obstacles, and the planned path. The algorithm is proved to converge to the desired destination in a finite number of steps provided a path to the destination exists. If such a path does not exist, then the navigation process terminates in a finite number of steps with the conclusion that the destination is unreachable. Application of the navigation scheme to two special cases of deteriorated polygons is also discussed: these are the case of a point robot and the case of a disk. In both cases the algorithm is shown to converge or terminate in a finite number of steps.
| Author | : |
| Publisher | : |
| Total Pages | : 860 |
| Release | : 1993 |
| Genre | : Dissertations, Academic |
| ISBN | : |
| Author | : Ahmed S. Khusheef |
| Publisher | : LAP Lambert Academic Publishing |
| Total Pages | : 164 |
| Release | : 2014-06-03 |
| Genre | : |
| ISBN | : 9783659487552 |
This book focuses on designing a mobile robot's navigation system. More specifically, it considers the challenges of designing and operating a mobile search robot used to search for, find and relocate a target object in an indoor environment. A step-by-step mobile robot construction approach guides us in the design and implementation of a mobile robot. This work proposes construction methods for two different types of mobile robots. For exploration of a path, we will develop an algorithmic strategy known as a 'bug navigation', in which, the robot navigates by following the walls or obstacle boundaries. The most common object detection and recognition techniques are presented in a simple style. This book also helps one to develop an efficient way to identify the location and orientation of a robot with an effective mechanism of control.
| Author | : Martin Levihn |
| Publisher | : |
| Total Pages | : |
| Release | : 2011 |
| Genre | : Algorithms |
| ISBN | : |
This work presents a new class of algorithms that extend the domain of Navigation Among Movable Obstacles (NAMO) to unknown environments. Efficient real-time algorithms for solving NAMO problems even when no initial environment information is available to the robot are presented and validated. The algorithms yield optimal solutions and are evaluated for real-time performance on a series of simulated domains with more than 70 obstacles. In contrast to previous NAMO algorithms that required a pre-specified environment model, this work considers the realistic domain where the robot is limited by its sensor range. It must navigate to a goal position in an environment of static and movable objects. The robot can move objects if the goal cannot be reached or if moving the object significantly shortens the path. The robot gains information about the world by bringing distant objects into its sensor range. The first practical planner for this exponentially complex domain is presented. The planner reduces the search-space through a collection of techniques, such as upper bound calculations and the maintenance of sorted lists with underestimates. Further, the algorithm is only considering manipulation actions if these actions are creating a new opening in the environment. In the addition to the evaluation of the planner itself is each of this techniques also validated independently.
| Author | : Arash Roshanineshat |
| Publisher | : |
| Total Pages | : 70 |
| Release | : 2018 |
| Genre | : |
| ISBN | : |
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to the D* Lite algorithm and results are presented.In the last section, the parameters of the robot are optimized using biogeography-based optimization (BBO). This is an efficient multivariable optimizer and it is shown that the results of optimization achieve significant improvement in robot navigation performance.In this thesis, we show that using evolutionary optimization methods like BBO can reduce the risk of collision and the navigation time by about 25% each. The resulting risk of collision indicates safe navigation by the robot which leads to the conclusion that this is a feasible method for real-world robots.
| Author | : Ṭekhniyon, Makhon ṭekhnologi le-Yiśraʼel. Center for Intelligent Systems |
| Publisher | : |
| Total Pages | : 40 |
| Release | : 1991 |
| Genre | : |
| ISBN | : |
To accomplish various tasks, robots need to navigate in environments that contain stationary or moving obstacles. The trajectory design problem requires finding a continuous collision-free path for the robot, from a given origin to a destination. A dynamic environment calls for a trajectory design that determines both the physical path and the time table for carrying out the movement along it. This work describes the problem of navigating a point robot among obstacles whose movement is known in advance. The solution provides a collision-free path under the given constraints that minimizes the traversal time.
