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.
Clutter-Resilient Autonomous Mobile Robot Navigation with Computationally Efficient Free-Space Features
Springer Proceedings in Advanced Robotics
The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022
2023-03-08
16 pages
Article/Chapter (Book)
Electronic Resource
English
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