Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments

Ioannis Arvanitakis, Antonios Tzes, Konstantinos Giannousakis

    Research output: Contribution to journalArticle

    Abstract

    The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.

    Original languageEnglish (US)
    Pages (from-to)12710-12714
    Number of pages5
    JournalIFAC-PapersOnLine
    Volume50
    Issue number1
    DOIs
    StatePublished - Jul 1 2017

    Fingerprint

    Measurement errors
    Mobile robots
    Navigation
    Robots
    Range finders
    Magnetometers
    Visibility
    Uncertainty

    Keywords

    • Autonomous robotic systems
    • control
    • Guidance navigation
    • Intelligent robotics
    • Mobile robots
    • Pose sensing

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments. / Arvanitakis, Ioannis; Tzes, Antonios; Giannousakis, Konstantinos.

    In: IFAC-PapersOnLine, Vol. 50, No. 1, 01.07.2017, p. 12710-12714.

    Research output: Contribution to journalArticle

    Arvanitakis, Ioannis ; Tzes, Antonios ; Giannousakis, Konstantinos. / Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments. In: IFAC-PapersOnLine. 2017 ; Vol. 50, No. 1. pp. 12710-12714.
    @article{31c56bd8d26641ffaeab3f66db5fef97,
    title = "Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments",
    abstract = "The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.",
    keywords = "Autonomous robotic systems, control, Guidance navigation, Intelligent robotics, Mobile robots, Pose sensing",
    author = "Ioannis Arvanitakis and Antonios Tzes and Konstantinos Giannousakis",
    year = "2017",
    month = "7",
    day = "1",
    doi = "10.1016/j.ifacol.2017.08.2267",
    language = "English (US)",
    volume = "50",
    pages = "12710--12714",
    journal = "IFAC-PapersOnLine",
    issn = "2405-8963",
    publisher = "IFAC Secretariat",
    number = "1",

    }

    TY - JOUR

    T1 - Mobile Robot Navigation Under Pose Uncertainty in Unknown Environments

    AU - Arvanitakis, Ioannis

    AU - Tzes, Antonios

    AU - Giannousakis, Konstantinos

    PY - 2017/7/1

    Y1 - 2017/7/1

    N2 - The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.

    AB - The navigation of a mobile robot under uncertainty in its pose information in an unknown environment is the subject of this paper. The mobile robot is equipped with a limited-field of view limited-range finder and a magnetometer to infer its orientation. The target location is known, while the robot's localization suffers from measurement errors. The uncertainty is taken into consideration by calculation of the Guaranteed Visibility and Guaranteed Sensed Area, where safe navigation can be assumed regardless of the measurement error. A switching objective function initially guarantees the exploration towards the target area and afterwards safely guides the robot towards it. Simulation results that prove the efficiency of the proposed scheme are presented.

    KW - Autonomous robotic systems

    KW - control

    KW - Guidance navigation

    KW - Intelligent robotics

    KW - Mobile robots

    KW - Pose sensing

    UR - http://www.scopus.com/inward/record.url?scp=85044843437&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85044843437&partnerID=8YFLogxK

    U2 - 10.1016/j.ifacol.2017.08.2267

    DO - 10.1016/j.ifacol.2017.08.2267

    M3 - Article

    VL - 50

    SP - 12710

    EP - 12714

    JO - IFAC-PapersOnLine

    JF - IFAC-PapersOnLine

    SN - 2405-8963

    IS - 1

    ER -