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

Volume

4

fYear

2001

fDate

2001

Firstpage

2030

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976371

Filename

976371