This paper proposes free-space motion tubes, a motion primitive for the local navigation of mobile robots equipped with range sensors. The geometry of a candidate motion tube captures the free-space required such that the robot may execute a maneuver without colliding with obstacles. Computational efficiency is achieved by selecting meaningful samples of the tube and evaluating them at run-time in the sensor space. Increasing the sensor resolution or the number of obstacles do not have any impact in the computational cost. Experimental results with a mobile platform show that free-space motion tubes are well-suited for navigating in cluttered environments and narrow passages.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Clutter-Resilient Autonomous Mobile Robot Navigation with Computationally Efficient Free-Space Features


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Billard, Aude (Herausgeber:in) / Asfour, Tamim (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Rodrigues, Rômulo T. (Autor:in) / Tsiogkas, Nikolaos (Autor:in) / Huebel, Nico (Autor:in) / Bruyninckx, Herman (Autor:in)

    Kongress:

    The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022


    Erschienen in:

    Robotics Research ; Kapitel : 35 ; 522-537


    Erscheinungsdatum :

    2023-03-08


    Format / Umfang :

    16 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Autonomous Navigation for Mobile Robot

    Peng, Gang / Lam, Tin Lun / Hu, Chunxu et al. | Springer Verlag | 2023


    Towards Resilient Autonomous Navigation of Drones

    Agha-mohammadi, Ali-akbar / Morrell, Benjamin / Fan, David D. et al. | NTRS | 2019


    Towards Resilient Autonomous Navigation of Drones

    Santamaria-Navarro, Angel / Thakker, Rohan / Fan, David D. et al. | TIBKAT | 2022


    Autonomous Navigation by a Mobile Robot

    Huntsberger, Terrance / Aghazarian, Hrand | NTRS | 2005


    Computationally Efficient Autonomous Overtaking on Highways

    Karlsson, Johan / Murgovski, Nikolce / Sjoberg, Jonas | IEEE | 2020