Robust Planning For Autonomous Navigation Of Mobile Robots In Unstructured Dynamic Environments
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| Author | : |
| Publisher | : |
| Total Pages | : 48 |
| Release | : 2002 |
| Genre | : |
| ISBN | : |
This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstrate the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.
| Author | : Christian Laugier |
| Publisher | : Springer |
| Total Pages | : 176 |
| Release | : 2007-10-14 |
| Genre | : Technology & Engineering |
| ISBN | : 3540734228 |
This book presents a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions. It addresses the challenging problem of autonomous navigation in dynamic environments, presenting new ideas and approaches in this emerging technical domain. Coverage discusses in detail various related challenging technical aspects and addresses upcoming technologies in this field.
| Author | : Michael F. Everett |
| Publisher | : |
| Total Pages | : 163 |
| Release | : 2020 |
| Genre | : |
| ISBN | : |
Today’s robots are designed for humans, but are rarely deployed among humans. This thesis addresses problems of perception, planning, and safety that arise when deploying a mobile robot in human environments. A first key challenge is that of quickly navigating to a human-specified goal – one with known semantic type, but unknown coordinate – in a previously unseen world. This thesis formulates the contextual scene understanding problem as an image translation problem, by learning to estimate the planning cost-to-go from aerial images of similar environments. The proposed perception algorithm is united with a motion planner to reduce the amount of exploration time before finding the goal. In dynamic human environments, pedestrians also present several important technical challenges for the motion planning system. This thesis contributes a deep reinforcement learning-based (RL) formulation of the multiagent collision avoidance problem, with relaxed assumptions on the behavior model and number of agents in the environment. Benefits include strong performance among many nearby agents and the ability to accomplish long-term autonomy in pedestrian-rich environments. These and many other state-of-the-art robotics systems rely on Deep Neural Networks for perception and planning. However, blindly applying deep learning in safety-critical domains, such as those involving humans, remains dangerous without formal guarantees on robustness. For example, small perturbations to sensor inputs are often enough to change network-based decisions. This thesis contributes an RL framework that is certified robust to uncertainties in the observation space.
| Author | : Petereit, Janko |
| Publisher | : KIT Scientific Publishing |
| Total Pages | : 282 |
| Release | : 2017-01-20 |
| Genre | : Electronic computers. Computer science |
| ISBN | : 3731505800 |
Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.
| Author | : Luis Payá |
| Publisher | : MDPI |
| Total Pages | : 298 |
| Release | : 2020-11-13 |
| Genre | : Technology & Engineering |
| ISBN | : 3039286706 |
The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.
| Author | : Andrey V. Savkin |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 360 |
| Release | : 2015-09-25 |
| Genre | : Technology & Engineering |
| ISBN | : 0128037571 |
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
| Author | : Umar Zakir Abdul Hamid |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 150 |
| Release | : 2019-10-02 |
| Genre | : Transportation |
| ISBN | : 1789239915 |
Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
| Author | : Alejandra Barrera |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 254 |
| Release | : 2011-07-05 |
| Genre | : Computers |
| ISBN | : 9533073462 |
Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics.
| Author | : Xj Jing |
| Publisher | : IntechOpen |
| Total Pages | : 608 |
| Release | : 2008-06-01 |
| Genre | : Technology & Engineering |
| ISBN | : 9789537619015 |
In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.
