Safe navigation of a mobile robot using the visibility information

Seokgyu Kim, Woo Jin Chung, Chang Bae Moon, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only "visible" obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of "invisible" regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robot's motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1304-1309
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kim, S., Chung, W. J., Moon, C. B., & Song, J-B. (2007). Safe navigation of a mobile robot using the visibility information. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1304-1309). [4209269] https://doi.org/10.1109/ROBOT.2007.363165