Safe Navigation of a Mobile Robot Considering Visibility of Environment
Woojin Chung
Seokgyu Kim
Minki Choi
Jaesik Choi
Hoyeon Kim
Chang-bae Moon
Jae-Bok Song
Dept. of Mech. Eng., Korea Univ., Seoul, South Korea;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2009
Volume: 56,
Issue: 10
On page(s): 3941-3950
ISSN: 0278-0046
INSPEC Accession Number: 10869377
Digital Object Identifier: 10.1109/TIE.2009.2025293
First Published: 2009-06-23
Current Version Published: 2009-09-15
Abstract
We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only ldquovisiblerdquo ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid collisions, it is desirable to exploit visibility information. This paper proposes a safe navigation scheme to reduce collision risk considering occluded dynamic obstacles. The robot's motion is controlled by the hybrid control scheme. The possibility of collision is dually reflected to path planning and speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The experimental results show that the robot moves along the safe path to obtain sufficient field of view. In addition, safe speed constraints are applied in motion control. It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme.
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