Chase and Track: Toward Safe and Smooth Trajectory Planning for Robotic Navigation in Dynamic Environments

Article Automation & Control Systems

An Adaptive Rapidly-Exploring Random Tree

Binghui Li et al.

Summary: This paper introduces an adaptive RRT-Connect (ARRT-Connect) planning method, which handles narrow passage environments and retains the path planning ability of RRT algorithms in other environments.

IEEE-CAA JOURNAL OF AUTOMATICA SINICA (2022)

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Article Automation & Control Systems

Virtual-Goal-Guided RRT for Visual Servoing of Mobile Robots With FOV Constraint

Runhua Wang et al.

Summary: A virtual-goal-guided RRT algorithm is proposed in this study to satisfy FOV and velocity constraints for nonholonomic mobile robots, aiming to reduce lateral error and accurately plan and track the robot's motion trajectory. Experiments demonstrate the effectiveness of the approach.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2022)

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Article Robotics

VR-ORCA: Variable Responsibility Optimal Reciprocal Collision Avoidance

Ke Guo et al.

Summary: The VR-ORCA algorithm relaxes the original assumption in ORCA by allowing the sum of responsibilities of a pair of agents to be one, and independently determines the responsibility division between them.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Automation & Control Systems

MOD-RRT*: A Sampling-Based Algorithm for Robot Path Planning in Dynamic Environment

Jie Qi et al.

Summary: This article presents an algorithm called MOD-RRT* for robot navigation in unknown dynamic environments, which can generate high-quality paths and replan paths when necessary. Simulations and real applicative experiments confirm the effectiveness and efficiency of the algorithm in avoiding obstacles in dynamic environments.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2021)

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Article Automation & Control Systems