Title :
Exploiting critical points to reduce positioning error for sensor-based navigation
Author :
Acar, Ercan U. ; Choset, Howie
Author_Institution :
Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
This paper presents a planner that determines a path such that the robot does not have to heavily rely on odometry to reach its goal. The planner determines a sequence of obstacle boundaries that the robot must follow to reach the goal. Since this planner is used in the context of a coverage algorithm already presented by the authors, we assume that the free space is already, completely or partially, represented by a cellular decomposition whose cell boundaries are defined by critical points of Morse functions (isolated points at obstacle boundaries). The topological relationship among the cells is represented by a graph where nodes are the critical points and edges connect the nodes that define a common cell (i.e., the edges correspond to the cells themselves). A search of this graph yields a sequence of cells that directs the robot from a start to a goal. Once a sequence of cells and critical points are determined, a robot traverses each cell by mainly following the boundary of the cell along the obstacle boundaries and minimizes the accumulated dead-reckoning error at the intermediate critical points. This allows the robot to reach the goal robustly even in the presence of dead-reckoning error.
Keywords :
minimisation; mobile robots; navigation; optimal control; robust control; Morse functions; cellular decomposition; coverage algorithm; critical points exploitation; graph; isolated points; obstacle boundaries; obstacle boundary sequence; path determination; path planner; positioning error reduction; robot; sensor-based navigation; topological relationship; Motion planning; Navigation; Orbital robotics; Path planning; Resonance; Robot sensing systems; Robotics and automation; Robustness; Sea measurements; Servomechanisms;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014318