Motion planning is one of the most important areas of robotics research. The complexity of
the motion-planning problem has hindered the development of practical algorithms. This …

Autonomous pilot is crucial in integrally promoting the autonomy of an unmanned surface
vehicle (USV). However, the integration mechanism of decision and control is still unclear …

A new real-time obstacle avoidance method for mobile robots has been developed and
implemented. This metho. d, named the vector field histogram (VFH), permits the detection of …

We describe the use of multiple wide-angle sonar range measurements to map the
surroundings of an autonomous mobile robot. A sonar range reading provides information …

A real-time obstacle avoidance approach for mobile robots has been developed and
implemented. It permits the detection of unknown obstacles simultaneously with the steering …

A comprehensive survey of artificial intelligence algorithms and programming organization
for robot systems, combining theoretical rigor and practical applications. This textbook offers …

A sonar-based map** and navigation system developed for an autonomous mobile robot
operating in unknown and unstructured environments is described. The system uses sonar …

A numeric representation of uncertain and incomplete sensor knowledge called certainty
grids was used successfully in several recent mobile robot control programs developed at …

Grids with blocked and unblocked cells are often used to represent terrain in robotics and
video games. However, paths formed by grid edges can be longer than true shortest paths in …

We present a path-planning algorithm for the clas-sical mover's problem in three dimensions
using a potential field representation of obstacles. A potential function similar to the …