Safe navigation for indoor mobile robots. Part 1: A sensor-based navigation framework

被引：14

作者：

Victorino, AC ^{[1
]}

Rives, P ^{[1
]}

Borrelly, JJ ^{[1
]}

机构：

[1] INRIA Sophia Antipolis, ICARE, F-06902 Sophia Antipolis, France

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2003年 / 22卷 / 12期

关键词：

reactive indoor navigation; mobile robot; sensor-based control; laser range data; Voronoi diagram; stability and robustness analysis;

D O I：

10.1177/0278364903022012002

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper we present the first part, part I of two, of a complete exploration and navigation methodology that enables a robot to safely navigate in an unknown environment. Reactive sensor-based navigation tasks and control laws arc derived from the interaction between the robot and its workspace. The perception is performed by a two-dimensional laser range-finder mounted on the robot. Reactive navigation tasks are defined based on the task function framework in such a way that the robot can explore on unknown indoor environment without any reference trajectory computation. Obstacle avoidance is ensured as a straight property implicit to the definition of the navigation tasks. The stability and robustness of the derived control laws with respect to the model errors are analyzed. The experimental results validate the proposed methodology.

引用

页码：1005 / 1018

页数：14

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