Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments

Ioannis Arvanitakis, Antonios Tzes, Konstantinos Giannousakis

Research output: Contribution to journalArticle

Abstract

Path planning under uncertainty in an unknown environment is an arduous task as the resulting map has inaccuracies and a safe path cannot always be found. A path planning method is proposed in unknown environments towards a known target position and under pose uncertainty. A limited range and limited field of view range sensor is considered and the robot pose can be inferred within certain bounds. Based on the sensor measurements a modified map is created to be used for the exploration and path planning processes, taking into account the uncertainty via the calculation of the guaranteed visibility and guaranteed sensed area, where safe navigation can be ensured regardless of the pose-error. A switching navigation function is used to initially explore the space towards the target position, and afterwards, when the target is discovered to navigate the robot towards it. Simulation results highlighting the efficiency of the proposed scheme are presented.

Original languageEnglish (US)
JournalInternational Journal of Advanced Robotic Systems
Volume15
Issue number1
DOIs
StatePublished - Jan 1 2018

Fingerprint

Motion planning
Mobile robots
Navigation
Robots
Sensors
Visibility
Uncertainty

Keywords

  • Autonomous robotic systems
  • Exploration
  • Guidance navigation and control
  • Mobile robots
  • Motion planning

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

Cite this

Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments. / Arvanitakis, Ioannis; Tzes, Antonios; Giannousakis, Konstantinos.

In: International Journal of Advanced Robotic Systems, Vol. 15, No. 1, 01.01.2018.

Research output: Contribution to journalArticle

@article{fb2de77d9cb14c73b941f079d5ab21df,
title = "Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments",
abstract = "Path planning under uncertainty in an unknown environment is an arduous task as the resulting map has inaccuracies and a safe path cannot always be found. A path planning method is proposed in unknown environments towards a known target position and under pose uncertainty. A limited range and limited field of view range sensor is considered and the robot pose can be inferred within certain bounds. Based on the sensor measurements a modified map is created to be used for the exploration and path planning processes, taking into account the uncertainty via the calculation of the guaranteed visibility and guaranteed sensed area, where safe navigation can be ensured regardless of the pose-error. A switching navigation function is used to initially explore the space towards the target position, and afterwards, when the target is discovered to navigate the robot towards it. Simulation results highlighting the efficiency of the proposed scheme are presented.",
keywords = "Autonomous robotic systems, Exploration, Guidance navigation and control, Mobile robots, Motion planning",
author = "Ioannis Arvanitakis and Antonios Tzes and Konstantinos Giannousakis",
year = "2018",
month = "1",
day = "1",
doi = "10.1177/1729881417750785",
language = "English (US)",
volume = "15",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "Vienna University of Technology",
number = "1",

}

TY - JOUR

T1 - Synergistic exploration and navigation of mobile robots under pose uncertainty in unknown environments

AU - Arvanitakis, Ioannis

AU - Tzes, Antonios

AU - Giannousakis, Konstantinos

PY - 2018/1/1

Y1 - 2018/1/1

N2 - Path planning under uncertainty in an unknown environment is an arduous task as the resulting map has inaccuracies and a safe path cannot always be found. A path planning method is proposed in unknown environments towards a known target position and under pose uncertainty. A limited range and limited field of view range sensor is considered and the robot pose can be inferred within certain bounds. Based on the sensor measurements a modified map is created to be used for the exploration and path planning processes, taking into account the uncertainty via the calculation of the guaranteed visibility and guaranteed sensed area, where safe navigation can be ensured regardless of the pose-error. A switching navigation function is used to initially explore the space towards the target position, and afterwards, when the target is discovered to navigate the robot towards it. Simulation results highlighting the efficiency of the proposed scheme are presented.

AB - Path planning under uncertainty in an unknown environment is an arduous task as the resulting map has inaccuracies and a safe path cannot always be found. A path planning method is proposed in unknown environments towards a known target position and under pose uncertainty. A limited range and limited field of view range sensor is considered and the robot pose can be inferred within certain bounds. Based on the sensor measurements a modified map is created to be used for the exploration and path planning processes, taking into account the uncertainty via the calculation of the guaranteed visibility and guaranteed sensed area, where safe navigation can be ensured regardless of the pose-error. A switching navigation function is used to initially explore the space towards the target position, and afterwards, when the target is discovered to navigate the robot towards it. Simulation results highlighting the efficiency of the proposed scheme are presented.

KW - Autonomous robotic systems

KW - Exploration

KW - Guidance navigation and control

KW - Mobile robots

KW - Motion planning

UR - http://www.scopus.com/inward/record.url?scp=85041401668&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85041401668&partnerID=8YFLogxK

U2 - 10.1177/1729881417750785

DO - 10.1177/1729881417750785

M3 - Article

AN - SCOPUS:85041401668

VL - 15

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

SN - 1729-8806

IS - 1

ER -