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

Sara Bouraine 1 Thierry Fraichard 2, * Hassen Salhi 3
* Auteur correspondant
2 PRIMA - Perception, recognition and integration for observation of activity
Inria Grenoble - Rhône-Alpes, UJF - Université Joseph Fourier - Grenoble 1, INPG - Institut National Polytechnique de Grenoble , CNRS - Centre National de la Recherche Scientifique : UMR5217
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.
Type de document :
Communication dans un congrès
ICRA 2012 - IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. IEEE, pp.174-179, 2012, 〈10.1109/ICRA.2012.6224932〉
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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. IEEE, pp.174-179, 2012, 〈10.1109/ICRA.2012.6224932〉. 〈hal-00768527〉

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