Safe robot navigation among moving and steady obstacles

Author

Additional Author(s)

• Matveev, Alexey S.
• Savkin, Andrey V.
• Hoy, Michael
• Wang, Chao

Publisher

Oxford: Elsevier, 2016

Language

English

ISBN

9780128037300

Series

Subject(s)

• MOBILE ROBOTS
• ROBOTS

Notes

. Bibliography: p. 313-335. Index: p. 337-344

Abstract

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.

Physical Dimension

Number of Page(s)

xiv, 344 p.

Dimension

23 cm.

Other Desc.

ill.

Summary / Review / Table of Content

Front Cover;
Safe Robot Navigation Among Moving and Steady Obstacles;
Copyright;
Contents;
Preface;
Abbreviations;
Frequently used notations;
Chapter 1: Introduction;
1.1 Collision-free navigation of wheeled robots among moving and steady obstacles;
1.2 Overview and organization of the book;
1.3 Sliding mode control;
1.4 Experimental equipment;
1.4.1 Laboratorial wheeled robot Pioneer P3-DX;
1.4.2 Intelligent autonomous wheelchair system;
1.4.3 Autonomous hospital bed system;
Chapter 2: Fundamentals of sliding mode control;
2.1 Introduction;
2.2 Sliding motion;
2.3 Filippov solutions
Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments
3.1 Introduction;
3.1.1 Exclusions;
3.2 Problem considerations;
3.2.1 Environment;
3.2.2 Kinematics of mobile robots;
3.2.3 Sensor data;
3.2.4 Optimality criteria;
3.2.5 Biological inspiration;
3.2.6 Implementation examples;
3.2.7 Summary of the methods reviewed;
3.3 Model predictive control;
3.3.1 Robust MPC;
3.3.2 Nonlinear MPC;
3.3.3 Planning algorithms;
3.4 Sensor-based techniques;
3.4.1 Obstacle avoidance via boundary following;
3.4.1.1 Distance based;
3.4.1.2 Sliding mode control
3.4.1.3 Bug algorithms
3.4.1.4 Full information based;
3.4.2 Sensor-based path planning;
3.4.3 Other reactive methods;
3.4.3.1 Artificial potential field methods;
3.4.3.2 Uncategorized approaches;
3.5 Moving obstacles;
3.5.1 Human-like obstacles;
3.5.2 Known obstacles;
3.5.3 Cinematically constrained obstacles;
3.5.3.1 Path-based methods;
3.5.3.2 Reactive methods;
3.6 Multiple robot navigation;
3.6.1 Communication types;
3.6.2 Reactive methods;
3.6.2.1 Potential field methods;
3.6.2.2 Reciprocal collision avoidance methods;
3.6.2.3 Hybrid logic approaches;
3.6.3 Decentralized MPC
Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles
4.1 Introduction;
4.2 System description and main assumptions;
4.3 Off-line shortest path planning;
4.4 On-line navigation;
4.5 Computer simulations;
4.6 Experiments with a real robot;
Chapter 5: Reactive navigation of wheeled robots for border patrolling;
5.1 Introduction;
5.2 Boundary following using a minimum distance sensor: System description and problem statement;
5.3 Main assumptions of theoretical analysis;
5.4 Navigation for border patrolling based on minimum distance measurements
5.4.1 Proof of Theorem 4.1
5.5 Computer simulations of border patrolling with a minimum distance sensor;
5.6 Boundary following with a rigidly mounted distance sensor: Problem setup;
5.7 Assumptions of theoretical analysis and tuning of the navigation controller;
5.7.1 Tuning of the navigation controller;
5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposed navigation law;
5.8.1 Illustrative analysis of the convergence domain;
5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2;
5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor

Exemplar(s)

#	Accession No.	Call Number	Location	Status
1.	03214/18	629.8932 Saf	Library - 7th Floor	Available