Safe Navigation of a Mobile Robot Considering Visibility of Environment

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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 "visible" 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.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2009-10
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.56, no.10, pp.3941 - 3950

ISSN
0278-0046
DOI
10.1109/TIE.2009.2025293
URI
http://hdl.handle.net/10203/267909
Appears in Collection
RIMS Journal Papers
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