NDLI: Safe Navigation of a Mobile Robot Considering Visibility of Environment

Content Provider	IEEE Xplore Digital Library
Author	Woojin Chung Seokgyu Kim Minki Choi Jaesik Choi Hoyeon Kim Chang-bae Moon Jae-Bok Song
Copyright Year	1982
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.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	3941
Ending Page	3950
Page Count	10
File Size	1224793
File Format	PDF
ISSN	02780046
Volume Number	56
Issue Number	10
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Mobile robots Motion control Path planning Collision avoidance Robot motion Robot control Velocity control Testing Buildings speed control Mobile robot navigation obstacle avoidance path planning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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