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Choi, Jaesik
Statistical Artificial Intelligence Lab
Research Interests
  • Artificial intelligence, machine learning, deep learning, robotics, automatic statistician, semantic segmentation, fault detection

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Safe Navigation of a Mobile Robot Considering Visibility of Environment

Cited 17 times inthomson ciCited 26 times inthomson ci
Title
Safe Navigation of a Mobile Robot Considering Visibility of Environment
Author
Chung, WoojinKim, SeokgyuChoi, MinkiChoi, JaesikKim, HoyeonMoon, Chang-baeSong, Jae-Bok
Keywords
Mobile robot navigation; Obstacle avoidance; Path planning; Speed control
Issue Date
2009-10
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.56, no.10, pp.3941 - 3950
Abstract
We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only "visible"ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid collisions, it is desirable to exploit visibility information. This paper proposes a safe navigation scheme to reduce collision risk considering occluded dynamic obstacles. The robot's motion is controlled by the hybrid control scheme. The possibility of collision is dually reflected to path planning and speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The experimental results show that the robot moves along the safe path to obtain sufficient field of view. In addition, safe speed constraints are applied in motion control. It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme.
URI
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DOI
10.1109/TIE.2009.2025293
ISSN
0278-0046
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EE_Journal Papers
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