Autonomous navigation of a tracked unmanned ground vehicle*

Seder, Marija; Jurić, Anđela; Šelek, Ana; Marić, Filip; Lovrić, Marija; Petrović, Ivan

doi:10.1016/j.ifacol.2022.07.593

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…In our previous work [28], a control architecture for the autonomous execution of GPSbased waypoint and patrolling tasks by a Komodo vehicle was presented. The patrolling task was achieved as an independent sequence of goal-finding tasks instead of planning the entire patrolling trajectory.…”

Section: Introductionmentioning

confidence: 99%

Smooth Autonomous Patrolling for a Differential-Drive Mobile Robot in Dynamic Environments

Šelek,

Seder,

Petrović

2023

Sensors

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Today, mobile robots have a wide range of real-world applications where they can replace or assist humans in many tasks, such as search and rescue, surveillance, patrolling, inspection, environmental monitoring, etc. These tasks usually require a robot to navigate through a dynamic environment with smooth, efficient, and safe motion. In this paper, we propose an online smooth-motion-planning method that generates a smooth, collision-free patrolling trajectory based on clothoid curves. Moreover, the proposed method combines global and local planning methods, which are suitable for changing large environments and enabling efficient path replanning with an arbitrary robot orientation. We propose a method for planning a smoothed path based on the golden ratio wherein a robot’s orientation is aligned with a new path that avoids unknown obstacles. The simulation results show that the proposed algorithm reduces the patrolling execution time, path length, and deviation of the tracked trajectory from the patrolling route compared to the original patrolling method without smoothing. Furthermore, the proposed algorithm is suitable for real-time operation due to its computational simplicity, and its performance was validated through the results of an experiment employing a differential-drive mobile robot.

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Section: Introductionmentioning

confidence: 99%

Smooth Autonomous Patrolling for a Differential-Drive Mobile Robot in Dynamic Environments

Šelek,

Seder,

Petrović

2023

Sensors

Self Cite

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“…At present, the motion planning technology of unmanned vehicles (referred to as autonomous vehicles or self-driving vehicles) is mainly used to meet the obstacle avoidance function under vehicle and road constraints, as well as the requirements of multivehicle cooperation in the actual tra c environment and the intentions of other drivers [1][2][3][4][5]. However, autonomous vehicles will be sharing urban roads with human tra c participants for a long time in the future.…”

Section: Introductionmentioning

confidence: 99%

Research on the Behavioral Dynamics Motion Planning Method of the Human-Vehicle Social Force Model

Gai-ning

Zhang

et al. 2022

Computational Intelligence and Neuroscience

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The interactive motion planning between unmanned vehicles and pedestrians in urban road environments is the key to realizing the autonomous motion of unmanned vehicles in hybrid traffic scenarios. The problem of human-vehicle interaction motion planning modeling at complex intersections is studied for an unmanned vehicle in this article. First, the motion planning of pedestrians and the unmanned vehicles is established according to the social force model and the behavioral dynamics model. Then, the autonomous vehicle is added to the crowd, and the human-vehicle interaction force is established. The virtual force is added to the social force model and the behavioral dynamics model, respectively, and the improved social force model and the behavioral dynamics model are used for the motion planning of pedestrians and unmanned vehicles. In this way, the established model solves the problems of simple pedestrian interaction motion planning in the social force model and single-body motion planning in the behavioral dynamics and thus provides a strong support for multibody motion planning. Finally, through the interactive motion planning trajectory of pedestrians and unmanned vehicles in different scenes, the vehicle and pedestrian motion planning trajectory can effectively avoid overlapping or crossing, so as to avoid the collision, which verifies the effectiveness and feasibility of the proposed model.

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Convergent wheeled robot navigation based on an interpolated potential function and gradient

Seder,

Klančar

2024

Robotics and Autonomous Systems

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Autonomous navigation of a tracked unmanned ground vehicle*

Cited by 4 publications

References 7 publications

Smooth Autonomous Patrolling for a Differential-Drive Mobile Robot in Dynamic Environments

Smooth Autonomous Patrolling for a Differential-Drive Mobile Robot in Dynamic Environments

Research on the Behavioral Dynamics Motion Planning Method of the Human-Vehicle Social Force Model

Convergent wheeled robot navigation based on an interpolated potential function and gradient

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