Abstract
The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 12710-12714 |
| Number of pages | 5 |
| Journal | 20th IFAC World Congress |
| Volume | 50 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jul 2017 |
Keywords
- Autonomous robotic systems
- Guidance navigation
- Intelligent robotics
- Mobile robots
- Pose sensing
- control
ASJC Scopus subject areas
- Control and Systems Engineering
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In: 20th IFAC World Congress, Vol. 50, No. 1, 07.2017, p. 12710-12714.
Research output: Contribution to journal › Article › peer-review
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TY - JOUR
T1 - Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments
AU - Arvanitakis, Ioannis
AU - Tzes, Anthony
AU - Giannousakis, Konstantinos
N1 - Funding Information: ∗Department of Electrical & Computer Engineering, University of Patras, Department of Electrical & Computer Engineering, University of Patras, ∗∗RDioep2a6r5tm00e,nGt orefeEcleec(etr-imcaalil&: aCrvoamnpituatkeirs(Egniagninneoeursiankgi,sU)@nievceer.suiptyaotrfaPs.agtrr)a.s, †RDioep2a6r5tm00e,nGt orefeEcleec(etr-imcaalil&: aCrvoamnpituatkeirs(Egniagninneoeursiankgi,sU)@nievceer.suiptyaotrfaPs.agtrr)a.s, †REiole2c6tr5i0ca0l, G&rCeeocmep(eu-tmeraEiln:gairnveaenriitnagkiPs(rgoigarnanmo,uNsaekwisY)o@rkecUe.nuipvaertrsaitsy.gArb).u D†hEalbeic, tAribcualD&haCboi,mUpnuitteerdEAnrgaibneEemriinrgatPesr.o(ger-amma,ilN: eawntYhoornky.Utzneisv@ernsyituy.eAdbuu). Dhabi, Abu Dhabi, United Arab Emirates. (e-mail: anthony.tzes@nyu.edu). Abstract: The navigation of a mobile robot under uncertainty in its pose information in an unknown Abstract: The navigation of a mobile robot under uncertainty in its pose information in an unknown elinmviitreodn-mraenngteisfinthdeersaunbdjecatmofagtnheistopmaepteerr. tTohienfmerobitisleorroiebnottatiisone.qTuihpepetadrgwetithlocaaltiimoniteisd-kfineolwdno,fwvhieiwle einmviitreodn-mraenngteisfinthdeersaunbdjecatmofagtnheistopmaepteerr. tTohienfmerobitisleorroiebnottatiisone.qTuihpepetadrgwetithlocaaltiimoniteisd-kfineolwdno,fwvhieilwe tbhyecraolbcuolta’stioloncaolfizthateioGnusauraffnetresedfrVomisibmileiatysuarnedmGenutaerarrnoterse.dTSheensuendceArtraeian,tywhiserteakseanfeinnatovigcoatnisoindecraantiobne thyecraolbcuolta’stioloncaolfizthateioGnusauraffnetresedfrVomisibmileiatysuarnedmGenutaerarrnoterse.dTSheensuendceArtraeian,tywhiserteakseanfeinnatovigcoatnisoindecraantiobne aexsspulomreadtiornegtaorwdalerdsss othfethtaergmeteaasreuareamnednatfteerrrwora.rAdssswafietclyhignugidoebsjethcteivreobfoutntcotwioanrdinsiitti.aSlliymguulaatriaonntereessutlhtes exsspulomreadtiornegtaorwdalerdsss othfethtaergmeteaasreuareamnednatfteerrrwora.rAdssswafietclyhignugidoebsjethcteivreobfoutntcotwioanrdinsiitti.aSlliymguulaatriaonntereessutlhtes ethxaptloprraotvioenthteowefafricdisenthceytoafrgtehteaprreoapaonsdedafstcehrwemaredasrseapferelysegnuteidde.s the robot towards it. Simulation results ehxaptloprraotvioenthteowefafricdisenthceytoafrgtehteaprreoapaonsdedafstcehrwemaredasrseapferelysegnuteidde.s the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented. t©ha2t0p1r7o, vIeFAthCe e(Ifnfitceirennactyionoaflt hFeedperroaptioosnedofsAchuetommeaatirce Cporensteronlt)e dH.osting by Elsevier Ltd. All rights reserved. Keywords: Mobile robots, Pose sensing, Autonomous robotic systems, Guidance navigation and Keywords: Mobile robots, Pose sensing, Autonomous robotic systems, Guidance navigation and coenytwroolr,dIsn:teMlloigbeilnet rroobboottsic, sPose sensing, Autonomous robotic systems, Guidance navigation and control, Intelligent robotics 1. INTRODUCTION 1. INTRODUCTION 1. INTRODUCTION Autonomous navigation of mobile robots is an area of research Autonomous navigation of mobile robots is an area of research witthoninocmreoaussinngaviingtaetrieosnt oofvemrotbhieleyreoabrosts(Gisaracniaareetaaolf. r(e2s0e0a7rc))h. gTiaospkosuslouschanads Tazreesa (c2o0v1e3r)a)g,eex(pKlaonratatiroons, esturavle.il(l2an0c1e5,);seSatrecrh-agniodproeuslcouseamndissTiozenss r(e2q0u1i3r)e),theaxtptlhoerartoiobno,tssumrovveielleafnficcei,ensetlayrcinh tahnedernevsicruoenmmeisnsti,oanvsoirdeiqnugiroebtshtaact ltehsedruorbinogtsmmootvioeneafnfidcikeenetlpyinign thnedernevsicruoenmmeisnsti,oanvsoirdeiqnugiroebtshtaact ltehsedruorbinogtsmmootvioeneafnfidcikeenetlpyinig uthnedeenrvcioronnsimdeernatt,ioavnotihdeinrgoboobtsst’acplheyssdicuarlincgonmsotrtaioinntsa.nd keeping uhnedeenrvcioronnsimdeernatt,ioavnotihdeinrgoboobtsst’acplheyssdicuarlincgonmsotrtaioinntsa.nd keeping under consideration the robots’ physical constraints. Motion planning for known environments has been extensively Motion planning for known environments has been extensively orenseparricnhceidploesvesrutchhe paasstthfeewAdreticfiacdieasl (PLoatVenatlilael(2F0ie0l6d)s),(rKelhyaitnibg (o1n98p6ri)n),cipthleesvseuccthorasfietlhde hAisrttoifgicraiaml P(oBtoenretinaslteFinieladnsd(KKhoarteinb ((11999816)))),, pthroebavbeciltiosrticfieroldadhmisatposgr(aKmav(rBakoireentstaeli.n(1a9n9d6)K)oarnend (1986)), pthroebavbeciltiosrticfieroldadhmisatposgr(aKmav(rBakoireentstaeli.n(1a9n9d6)K)oarnend R(1a9p9i1d)l)y,-epxrpolboarbinilgisRtiacnrdooamdmTarepess((KRaRvTra)k(iKeutffnale.r (a1n9d9L6)a)Vaanllde R1a9p9i1d)l)y,-epxrpolboarbinilgisRtiacnrdooamdmTarepess((KRaRvTra)k(iKeutffnale.r (a1n9d9L6)a)Vaanllde A(2p0p0r0o)a)c. hPa(BthropclaknannindgKmhaettihbo(d1s9s9u9c)h),athsatthereDlyyunpaomnicloWcailnrdeoawl-tAimpperooabcshta(cBleroacvkoiadnadncKeh,ahtiabve(1b9e9e9n))i,mthpaltemreelyntuepdoinnloucnaclerrteaailn-otirmuenokbnsotwacnleenavvioriodnamnceen,tsha(vTeovbaerenet iaml.pl(e2m00e7n)t)edwihneruenctheertainin-foorrmunaktinoonwanboeunvt itrhoenmenevnirtson(mToevnatrinetthael. v(i2c0in0i7t)y) owf hthereerothbeotinis-tfaokrmenattihornouagbhouotnt-hbeoeanrdvirsoennmsoerns.t Tinhtehsee vmiceitnhiotydso,fwthheileroebfoftecis-ttiavkee,nsethemroutoghbeonin-beoffaicrdienset n(Vsoarlse.roT-hGeosme emzeetht oadl.s(,2w01h3il)e) einfftehce-atifvoer,esmeeemntitoonebde einnevfifriocniemnet n(Vtsa. lero-Gomez et al. (2013)) in the tifvoer,esmeeemntitoonebde einnevfifriocniemnet n(Vtsa. lero-Gomez et al. (2013)) in the aforementioned environments. If the sensory information about the environment is utilized If the sensory information about the environment is utilized efoxrplaonraotino-nlintoewmaradpsbthueilduinnkgnporwoncetsasr,gethteanretaheissiunbc-lpurdoebdleinmthoef eoxrplaonraotino-nlintoewmaradpsbthueilduinnkgnporwoncetsasr,gethteanretaheissiunbc-lpurdoebdleinmthoef pnlaovriagtaiotinon(.YOamneauocfhith(e19f9ir7s)t),mwehtheoredsa ifsrotnhteiefrroisntdieerfinbeadseads ethxe-plovriagtaiotinon(.YOamneauocfhith(e19f9ir7s)t),mwehtheoredsa ifsrotnhteiefrroisntdieerfinbeadseads ethxe-bpolournadtiaorny(bYeatmwaeuencheix(p1l9o9r7e)d),awndheureneaxfprloonretidersipsadceef.inTehdeafsrothne-plournadtiaorny(bYeatmwaeuencheix(p1l9o9r7e)d),awndheureneaxfprloonretidersipsadceef.inTehdeafsrothne-tbioeruncdoanrcyepbtehtwaseebneeenxpwloidreeldy aunsdedutnoexrepsleoarercdhsnpeawce.exTphloerafrtoionn-tioer ncdoanrcyepbtehtwaseebneeenxpwloidreeldy aunsdedutnoexrepsleoarercdhsnpeawce.exTphloerafrtoionn-mtieerthcoodnsce(pHtahuamsabnenenetwali.d(e2ly01u0s)e)d. to research new exploration mieerthcoodnsce(pHtahuamsabnenenetwali.d(e2ly01u0s)e)d. to research new exploration methods (Haumann et al. (2010)). ★★ This work has received funding from the European Union Horizon 2020 ReTsehairschwoanrkd hInansorveacteioivnePdrofugnradminmg efruonmdetrhteheEGurroapnetaAngUreneimonenHt Noroiz.o6n442102280, R★eTsehairschwoanrkd hInansorveacteioivnePdrofugnradminmg efruonmdetrhteheEGurroapnetaAngUreneimonenHt Noroiz.o6n442102280, ReEsReaOrWchOaRndKISn.novation Programme under the Grant Agreement No. 644128, AEROWORKS. Copyright © 2017 IFAC 13249 2405-8963 © 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Copyright © 2017 IFAC 13249 Peer review under responsibility of International Federation of Automatic Control. Copyright © 2017 IFAC 13249 10.1016/j.ifacol.2017.08.2267 Publisher Copyright: © 2017
PY - 2017/7
Y1 - 2017/7
N2 - The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.
AB - The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.
KW - Autonomous robotic systems
KW - Guidance navigation
KW - Intelligent robotics
KW - Mobile robots
KW - Pose sensing
KW - control
UR - http://www.scopus.com/inward/record.url?scp=85044843437&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85044843437&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2017.08.2267
DO - 10.1016/j.ifacol.2017.08.2267
M3 - Article
AN - SCOPUS:85044843437
SN - 2405-8963
VL - 50
SP - 12710
EP - 12714
JO - 20th IFAC World Congress
JF - 20th IFAC World Congress
IS - 1
ER -