Swarm robots often encounter dynamic obstacles when performing tasks, such as moving objects in the scene or other individuals in the robot group. The traditional passive obstacle avoidance method makes the rob
This makes SAC more suitable for handling large-scale continuous dynamic spatial problems, such as UAV flight path planning and dynamic obstacle avoidance [43]. Additionally, SAC employs discretized entropy regularization to maximize the policy's entropy, encouraging the generation of more exploratory ...
Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that combines push and drag motions based on 3D visual perception to separate obstacles from the target. We define a region of interest 3D point cloud with a number of sub-blocks around...
This issue involves four constraints, and the weight calculation relies on three variables: wire diameter (\({x}_{1}\)), the mean of coil diameter (\({x}_{2}\)), and the count of active coils (\({x}_{3}\)). The problem is articulated in the following manner: Minimize: $$f...
The use of switching constraints associated with grounded/lifted wheels is an effective method of controlling various motions; e.g. the avoidance of a moving obstacle. A model of an articulated mobile robot that has active and passive wheels and active joints with switching constraints is derived....
58 2. Project to improve risk prevention and control 2.1 Risk zone mapping of disasters and accidents We will carry out nationwide exploration of seismically active faults, and compile the sixth generation of national seismic zoning map. We will move forward with the National Survey on Geological ...
Citation2019) based on the Velocity Obstacle method. This method enables MASS to navigate efficiently while predicting the movements of surrounding vessels, making it an effective solution for avoiding both stationary and dynamic obstacles in maritime traffic systems. In terms of risk-based decision-...
A frequently used method in reactive control design is to keep all behaviors active (i.e., the controllers corresponding to the behaviors) and calculate the input for the actuators as a weighted sum of the individual behaviors. In this approach, action coordination is achieved by some form of...
where d is the safety distance (length of the edge of square exclusion region), αdi are binary variables, while (25e) ensures that at least one of the above constraints is active. It is worth to mention that the rectangular exclusion zone can be used in order to model other non-convex...
An obstacle avoidance system having an ultrasonic sensor is provided. The system includes an ultrasonic sensor array having at least one ultrasonic sensor for measuring a distance t