› › Adaptive Model Predictive Motion Planning For Navigation In Complex Environments

Motion Planning in Dynamic Environments

Author : Kikuo Fujimura

Publisher : Springer Science & Business Media

Page : 190 pages

File Size : 42,25 MB

Release : 2012-12-06

Category : Computers

ISBN : 4431681655

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Book Description

Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.



Field and Service Robotics

Author : Marco Hutter

Publisher : Springer

Page : 701 pages

File Size : 47,69 MB

Release : 2017-11-01

Category : Technology & Engineering

ISBN : 3319673610

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Book Description

This book contains the proceedings of the 11th FSR (Field and Service Robotics), which is the leading single-track conference on applications of robotics in challenging environments. This conference was held in Zurich, Switzerland from 12-15 September 2017. The book contains 45 full-length, peer-reviewed papers organized into a variety of topics: Control, Computer Vision, Inspection, Machine Learning, Mapping, Navigation and Planning, and Systems and Tools. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, and Europe.



Decision-Making Techniques for Autonomous Vehicles

Author : Jorge Villagra

Publisher : Elsevier

Page : 426 pages

File Size : 13,88 MB

Release : 2023-03-03

Category : Technology & Engineering

ISBN : 0323985491

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Book Description

Decision-Making Techniques for Autonomous Vehicles provides a general overview of control and decision-making tools that could be used in autonomous vehicles. Motion prediction and planning tools are presented, along with the use of machine learning and adaptability to improve performance of algorithms in real scenarios. The book then examines how driver monitoring and behavior analysis are used produce comprehensive and predictable reactions in automated vehicles. The book ultimately covers regulatory and ethical issues to consider for implementing correct and robust decision-making. This book is for researchers as well as Masters and PhD students working with autonomous vehicles and decision algorithms. - Provides a complete overview of decision-making and control techniques for autonomous vehicles - Includes technical, physical, and mathematical explanations to provide knowledge for implementation of tools - Features machine learning to improve performance of decision-making algorithms - Shows how regulations and ethics influence the development and implementation of these algorithms in real scenarios



Field and Service Robotics

Author : Luis Mejias

Publisher : Springer

Page : 523 pages

File Size : 17,8 MB

Release : 2014-07-15

Category : Technology & Engineering

ISBN : 3319074881

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Book Description

FSR, the International Conference on Field and Service Robotics, is a robotics Symposium which has established over the past ten years the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The first meeting was held in Canberra, Australia, in 1997. Since then the meeting has been held every two years in the pattern Asia, America, Europe. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments; on the ground (of earth or planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. This book present the results of the ninth edition of Field and Service Robotics, FSR13, held in Brisbane, Australia on 9th-11th December 2013. The conference provided a forum for researchers, professionals and robot manufactures to exchange up-to-date technical knowledge and experience. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Unmanned Aerial Vehicles technologies and applications, Agriculture, Space, Search and Rescue and Domestic Robotics, Robotic Vision, Mapping and Recognition.



Safe Robot Navigation Among Moving and Steady Obstacles

Author : Andrey V. Savkin

Publisher : Butterworth-Heinemann

Page : 360 pages

File Size : 33,3 MB

Release : 2015-09-25

Category : Technology & Engineering

ISBN : 0128037571

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Book Description

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



Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments

Author : Petereit, Janko

Publisher : KIT Scientific Publishing

Page : 282 pages

File Size : 48,53 MB

Release : 2017-01-20

Category : Electronic computers. Computer science

ISBN : 3731505800

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Book Description

Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.



Adaptive Mobile Robotics

Author : Abul K. M. Azad

Publisher : World Scientific

Page : 904 pages

File Size : 14,78 MB

Release : 2012

Category : Technology & Engineering

ISBN : 9814415944

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Book Description

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.



Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021)

Author : Meiping Wu

Publisher : Springer Nature

Page : 3575 pages

File Size : 35,59 MB

Release : 2022-03-18

Category : Technology & Engineering

ISBN : 9811694923

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Book Description

This book includes original, peer-reviewed research papers from the ICAUS 2021, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2021 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.



Mobile Robotics

Author : Alonzo Kelly

Publisher : Cambridge University Press

Page : 717 pages

File Size : 50,58 MB

Release : 2013-11-11

Category : Computers

ISBN : 110703115X

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Book Description

Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning



Autonomy and Unmanned Vehicles

Author : Somaiyeh MahmoudZadeh

Publisher : Springer

Page : 116 pages

File Size : 43,50 MB

Release : 2018-08-06

Category : Technology & Engineering

ISBN : 9811322457

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Book Description

This book addresses higher–lower level decision autonomy for autonomous vehicles, and discusses the addition of a novel architecture to cover both levels. The proposed framework’s performance and stability are subsequently investigated by employing different meta-heuristic algorithms. The performance of the proposed architecture is shown to be largely independent of the algorithms employed; the use of diverse algorithms (subjected to the real-time performance of the algorithm) does not negatively affect the system’s real-time performance. By analyzing the simulation results, the book demonstrates that the proposed model provides perfect mission timing and task management, while also guaranteeing secure deployment. Although mainly intended as a research work, the book’s review chapters and the new approaches developed here are also suitable for use in courses for advanced undergraduate or graduate students.