Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

VC-method: high-speed navigation of a uniformly braking mobile robot using position-velocity configuration space

VC-method: high-speed navigation of a uniformly braking mobile robot using position-velocity... This paper considers the problem of fast autonomous mobile robot navigation between obstacles while attempting to maximize velocity subject to safe braking constraints. The paper introduces position-velocity configuration space. Within this space, keeping a uniform braking distance from the obstacles can be modeled as forbidden regions called vc-obstacles. Using Morse Theory, the paper characterizes the critical position-velocity points where two vc-obstacles meet and locally disconnect the free position-velocity space. These points correspond to critical events where the robot’s velocity becomes too large to support safe passage between neighboring obstacles. The velocity dependent critical points induce a cellular decomposition of the free position-velocity space into cells. Each cell is associated with a particular range of velocities that can be safely followed by the robot. The vc-method searches the cells’ adjacency graph for a maximum velocity path. The method outputs a pseudo time optimal path which maintains safe braking distance from the obstacles throughout the robot motion. Simulations and experiments demonstrate the method and highlight the usefulness of taking the path’s velocity into account during the path planning process. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

VC-method: high-speed navigation of a uniformly braking mobile robot using position-velocity configuration space

Autonomous Robots , Volume 34 (4) – Jan 30, 2013

Loading next page...
 
/lp/springer-journals/vc-method-high-speed-navigation-of-a-uniformly-braking-mobile-robot-V80XxJ5QGO

References (23)

Publisher
Springer Journals
Copyright
Copyright © 2013 by Springer Science+Business Media New York
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-013-9322-7
Publisher site
See Article on Publisher Site

Abstract

This paper considers the problem of fast autonomous mobile robot navigation between obstacles while attempting to maximize velocity subject to safe braking constraints. The paper introduces position-velocity configuration space. Within this space, keeping a uniform braking distance from the obstacles can be modeled as forbidden regions called vc-obstacles. Using Morse Theory, the paper characterizes the critical position-velocity points where two vc-obstacles meet and locally disconnect the free position-velocity space. These points correspond to critical events where the robot’s velocity becomes too large to support safe passage between neighboring obstacles. The velocity dependent critical points induce a cellular decomposition of the free position-velocity space into cells. Each cell is associated with a particular range of velocities that can be safely followed by the robot. The vc-method searches the cells’ adjacency graph for a maximum velocity path. The method outputs a pseudo time optimal path which maintains safe braking distance from the obstacles throughout the robot motion. Simulations and experiments demonstrate the method and highlight the usefulness of taking the path’s velocity into account during the path planning process.

Journal

Autonomous RobotsSpringer Journals

Published: Jan 30, 2013

There are no references for this article.