Model-based robocentric planning and navigation for dynamic environments

Author:

Lorente María-Teresa1,Owen Eduardo1,Montano Luis1

Affiliation:

1. Instituto de Investigación en Ingeniería de Aragón, University of Zaragoza, Spain

Abstract

This work addresses a new technique of motion planning and navigation for differential-drive robots in dynamic environments. Static and dynamic objects are represented directly on the control space of the robot, where decisions on the best motion are made. A new model representing the dynamism and the prediction of the future behavior of the environment is defined, the dynamic object velocity space (DOVS). A formal definition of this model is provided, establishing the properties for its characterization. An analysis of its complexity, compared with other methods, is performed. The model contains information about the future behavior of obstacles, mapped on the robot control space. It allows planning of near-time-optimal safe motions within the visibility space horizon, not only for the current sampling period. Navigation strategies are developed based on the identification of situations in the model. The planned strategy is applied and updated for each sampling time, adapting to changes occurring in the scenario. The technique is evaluated in randomly generated simulated scenarios, based on metrics defined using safety and time-to-goal criteria. An evaluation in real-world experiments is also presented.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Cited by 8 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Long-Range Navigation in Complex and Dynamic Environments with Full-Stack S-DOVS;Applied Sciences;2023-08-03

2. Improving robot navigation in crowded environments using intrinsic rewards;2023 IEEE International Conference on Robotics and Automation (ICRA);2023-05-29

3. Towards stabilization and navigational analysis of humanoids in complex arena using a hybridized fuzzy embedded PID controller approach;Expert Systems with Applications;2023-03

4. Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios;ROBOT2022: Fifth Iberian Robotics Conference;2022-11-19

5. Autonomous Robot Navigation in Crowd;2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE);2022-10-18

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