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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

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dc.contributor.author Chung, Woojin ko
dc.contributor.author Kim, Seokgyu ko
dc.contributor.author Choi, Minki ko
dc.contributor.author Choi, Jaesik ko
dc.contributor.author Kim, Hoyeon ko
dc.contributor.author Moon, Chang-bae ko
dc.contributor.author Song, Jae-Bok ko
dc.date.available 2014-10-31T00:08:46Z -
dc.date.created 2014-10-30 ko
dc.date.issued 2009-10 -
dc.identifier.citation IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.56, no.10, pp.3941 - 3950 ko
dc.identifier.issn 0278-0046 ko
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/8066 -
dc.identifier.uri http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=70349614163 ko
dc.description.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. ko
dc.description.statementofresponsibility close -
dc.language ENG ko
dc.publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ko
dc.subject Mobile robot navigation ko
dc.subject Obstacle avoidance ko
dc.subject Path planning ko
dc.subject Speed control ko
dc.title Safe Navigation of a Mobile Robot Considering Visibility of Environment ko
dc.type ARTICLE ko
dc.identifier.scopusid 2-s2.0-70349614163 ko
dc.identifier.wosid 000269838700020 ko
dc.type.rims ART ko
dc.description.wostc 17 *
dc.description.scopustc 26 *
dc.date.tcdate 2015-05-06 *
dc.date.scptcdate 2014-10-30 *
dc.identifier.doi 10.1109/TIE.2009.2025293 ko
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