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Efficient Computation of the Space of Safe Velocities for Non-Holonomic Robots in Uncertain Dynamic EnvironmentsAuthors: Bharath Gopalakrishnan,Arun Kumar Singh,K. Madhava Krishna Date: 2015-02-27 Report no: IIIT/TR/2015/3 AbstractNavigating non-holonomic mobile robots in dynamic environments is challenging since it requires computing at each instant, the space of collision free velocities, characterized by a set of highly non-linear and non-convex inequalities. Moreover, uncertainty in obstacle trajectories further increases the complexity of the problem, as it now becomes imperative to relate the space of collision free velocities to a confidence/safety measure. In this paper, we present an efficient framework to tackle both these difficult aspects associated with navigation in uncertain dynamic environments. In particular, the contribution of the current work lies in obtaining closed form symbolic formulae characterizing the space of collision free velocities for a given distribution of obstacles’ trajectories. Consequently, different characterization based on the desired confidence/safety measure can be straightforwardly obtained. Moreover, a closed form characterization of the space of safe velocities can also serve as the basis for constructing various collision avoidance manoeuvres on the basis of a cost metric which depends on factors like deviation from the path associated with the current trajectory, acceleration/de-acceleration capability of the robot, risk of collision avoidance etc. We illustrate the efficacy and the benefits of the proposed framework through several numerical simulation results. We also discuss the advantages provided by the proposed approach over the existing methodologies for navigation in uncertain dynamic environments. Full report: pdf Centre for Robotics |
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