Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Three-Dimensional Force System:Problem Solving

Three-Dimensional Force System:Problem Solving

A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...

Relative Motion Analysis using Rotating Axes-Problem Solving

Relative Motion Analysis using Rotating Axes-Problem Solving

Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...

Two-Dimensional Force System: Problem Solving

Two-Dimensional Force System: Problem Solving

Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...

Virtual Work for a System of Connected Rigid Bodies

Virtual Work for a System of Connected Rigid Bodies

Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...

Relative Motion Analysis using Rotating Axes

Relative Motion Analysis using Rotating Axes

Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...

Three-Dimensional Force System

Three-Dimensional Force System

In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Distributed Prescribed Performance Formation Tracking for Unknown Euler-Lagrange Systems Under Input Saturation.

Sensors (Basel, Switzerland)·2025

Same author

Autonomous Exploration in Unknown Indoor 2D Environments Using Harmonic Fields and Monte Carlo Integration.

Sensors (Basel, Switzerland)·2025

Same author

Autonomous Sea Floor Coverage with Constrained Input Autonomous Underwater Vehicles: Integrated Path Planning and Control.

Sensors (Basel, Switzerland)·2025

Same author

Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications.

Sensors (Basel, Switzerland)·2024

Same author

Decentralized Navigation with Optimality for Multiple Holonomic Agents in Simply Connected Workspaces.

Sensors (Basel, Switzerland)·2024

Same author

MINRbase: a comprehensive database of nuclear- and mitochondrial-ribosomal-RNA-derived fragments (rRFs).

Nucleic acids research·2023

Search research articles

Related Experiment Video

Updated: Jul 30, 2025

Modeling the Functional Network for Spatial Navigation in the Human Brain

Modeling the Functional Network for Spatial Navigation in the Human Brain

Published on: October 13, 2023

Robot Navigation in Complex Workspaces Employing Harmonic Maps and Adaptive Artificial Potential Fields.

Panagiotis Vlantis¹, Charalampos P Bechlioulis¹, Kostas J Kyriakopoulos²

¹Department of Electrical and Computer Engineering, University of Patras, 26504 Patras, Greece.

Sensors (Basel, Switzerland)

|May 13, 2023

Summary

This study presents a novel algorithm for single robot navigation in complex planar environments. The method transforms any workspace into a disk, simplifying navigation and ensuring collision avoidance for non-holonomic robots.

Keywords:

artificial potential fields autonomous vehicle navigation collision avoidance motion and path planning

More Related Videos

A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants

A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants

Published on: August 26, 2018

Author Spotlight: Investigating the Effects of Mind-Body-Movement Practices on Brain Function

Author Spotlight: Investigating the Effects of Mind-Body-Movement Practices on Brain Function

Published on: January 26, 2024

Related Experiment Videos

Last Updated: Jul 30, 2025

Modeling the Functional Network for Spatial Navigation in the Human Brain

Modeling the Functional Network for Spatial Navigation in the Human Brain

Published on: October 13, 2023

A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants

A Networked Desktop Virtual Reality Setup for Decision Science and Navigation Experiments with Multiple Participants

Published on: August 26, 2018

Author Spotlight: Investigating the Effects of Mind-Body-Movement Practices on Brain Function

Author Spotlight: Investigating the Effects of Mind-Body-Movement Practices on Brain Function

Published on: January 26, 2024

Area of Science:

Robotics
Artificial Intelligence
Computational Geometry

Background:

Single robot navigation in complex, arbitrarily connected planar workspaces presents significant challenges.
Existing methods often struggle with arbitrary shapes and connectedness, requiring detailed environment mapping.

Purpose of the Study:

To develop a robust algorithm for single robot navigation in complex planar workspaces.
To simplify the navigation problem by transforming arbitrary workspaces into a solvable disk format.
To provide a motion control scheme suitable for commonly used non-holonomic robots.

Main Methods:

A transformation algorithm that maps any static, compact, planar workspace to a disk.
Utilizing a fine representation of the workspace boundary, obtainable via SLAM (Simultaneous Localization and Mapping).
A workspace decomposition strategy to reduce computational complexity.
A motion control scheme for non-holonomic robots with unicycle kinematics.

Main Results:

The algorithm demonstrates excellent performance in complex workspaces.
The transformation simplifies the navigation problem, allowing for easy solution on the resulting disk.
The motion control scheme ensures collision avoidance and convergence to the goal.
Parameter tuning is straightforward, affecting trajectory shape but not critical navigation specifications.

Conclusions:

The proposed navigation strategy is effective for single robot navigation in complex planar environments.
The transformation approach offers a computationally efficient and robust solution.
The method is validated through extensive simulations and experimental studies, showing practical applicability.