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Conference Papers Year : 2012

Provably Safe Navigation for Mobile Robots with Limited Field-of-Views in Unknown Dynamic Environments

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Abstract

This paper addresses the problem of navigating a mobile robot with a limited field-of-view in a unknown dynamic environment. In such a situation, absolute motion safety, i.e. such that no collision will ever take place whatever happens, is impossible to guarantee. It is therefore settled for a weaker level of motion safety dubbed passive motion safety: it guarantees that, if a collision takes place, the robot will be at rest. Passive motion safety is tackled using a variant of the Inevitable Collision State (ICS) concept called Braking ICS, i.e. states such that, whatever the future braking trajectory of the robot, a collision occurs before it is at rest. Passive motion safety is readily obtained by avoiding Braking ICS at all times. Building upon an existing Braking ICS-Checker, i.e. an algorithm that checks if a given state is a Braking ICS or not, this paper presents a reactive collision avoidance scheme called PASSAVOID. The main contribution of this paper is the formal proof of PASSAVOID's passive motion safety. Experiments in simulation demonstrates how PASSAVOID operates.
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Dates and versions

hal-00768527 , version 1 (21-12-2012)

Identifiers

Cite

Sara Bouraine, Thierry Fraichard, Hassen Salhi. Provably Safe Navigation for Mobile Robots with Limited Field-of-Views in Unknown Dynamic Environments. ICRA 2012 - IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.174-179, ⟨10.1109/ICRA.2012.6224932⟩. ⟨hal-00768527⟩
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