Talks and Poster Presentations (with Proceedings-Entry):
D. Phan, J. Yang, D. Ratasich, R. Grosu, S. Smolka, S. Stoller:
"Collision Avoidance for Mobile Robots with Limited Sensing in Unknown Environments";
Talk: RV 2015, the 6th International Conference on Runtime Verification,
- 2015-09-25; in: "Runtime Verification, 6th International Conference (RV 2015)",
This paper addresses the problem of safely navigating a mobile robot with limited sensing capability in an unknown environment with stationary obstacles. We consider two sensing limitations: blind spots between sensors and limited sensing range. We identify a set of
constraints on the sensors´ readings whose satisfaction at time t guarantees collision-freedom during the time interval [t, t + ∆t]. Here, ∆t is a parameter whose value is bounded by a function of the maximum velocity of the robot and the range of the sensors. The constraints are obtained under assumptions about minimum internal angle and minimum edge length of polyhedral obstacles. We apply these constraints in the switching logic of the Simplex architecture to obtain a controller that ensures collision-freedom. Experiments we have conducted are consistent with these claims. To the best of our knowledge, our study is the first to provide runtime assurance that an autonomous mobile robot with limited sensing can navigate an unknown environment without colliding with obstacles.
collision avoidance, simplex architecture
"Official" electronic version of the publication (accessed through its Digital Object Identifier - DOI)
Created from the Publication Database of the Vienna University of Technology.