Title :
A dynamic reachability test for sensor-based navigation with unknown obstacle boundaries
Author :
Zuo, Bing-Ran ; Chen, I-Ming
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
This paper presents a feasible formulation of reachability test for sensor-based navigation. It directly incorporates the distance sensor information and tolerates the sensing and control errors. The concept of obstacle range is proposed, and the intersection between obstacle ranges is investigated based on geometrical reasoning. The necessary and sufficient condition for reachability is derived, along with a reachability test algorithm. Based on obstacle ranges, the algorithm requires no analytical expression of obstacle boundaries. It is computationally efficient and can be applied to sensor-based autonomous robotic systems
Keywords :
mobile robots; navigation; path planning; reachability analysis; spatial reasoning; autonomous mobile robots; distance sensor; geometrical reasoning; necessary condition; obstacle avoidance; obstacle boundaries; obstacle range; path planning; sensor-based navigation; sufficient condition; Algorithm design and analysis; Computer errors; Convergence; Error correction; Mechanical sensors; Navigation; Production engineering; Robot sensing systems; Sufficient conditions; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976371
