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Relaxing the Inevitable Collision State Concept to Address Provably Safe Mobile Robot Navigation with Limited Field-of-Views in Unknown Dynamic Environments

Abstract : This paper addresses the problem of provably safe navigation for a mobile robot with a limited field-of-view placed in a unknown dynamic environment. In such a situation, absolute motion safety (in the sense that no collision will ever take place whatever happens in the environment) is impossible to guarantee in general. It is therefore settled for a weaker level of motion safety dubbed passive motion safety: it guarantees that, if a collision is inevitable, the robot will be at rest. The primary contribution of this paper is a relaxation of the Inevitable Collision State (ICS) concept called Braking ICS. A Braking ICS is a state for which, no matter what the future trajectory of the robot is, it is impossible to stop before a collision takes place. Braking ICS are designed with a passive motion safety perspective for robots with a limited field-of-view in unknown dynamic environments. Braking ICS are formally defined and a number of important properties are established. These properties are then used to design a Braking ICS checker, i.e. an algorithm that checks whether a given state is a Braking ICS or not. In a companion paper, it is shown how the Braking ICS checker can be integrated into a reactive navigation scheme whose passive motion safety is provably guaranteed.
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https://hal.inria.fr/inria-00616953
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Submitted on : Thursday, August 25, 2011 - 11:11:08 AM
Last modification on : Thursday, October 21, 2021 - 3:47:59 AM
Long-term archiving on: : Saturday, November 26, 2011 - 2:20:46 AM

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Sara Bouraine, Thierry Fraichard, Hassen Salhi. Relaxing the Inevitable Collision State Concept to Address Provably Safe Mobile Robot Navigation with Limited Field-of-Views in Unknown Dynamic Environments. IROS 2011 - IEEE-RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. pp.2985-2991, ⟨10.1109/IROS.2011.6094901⟩. ⟨inria-00616953⟩

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