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Safe Robot Driving in Cluttered Environments [chapter]

Chuck Thorpe, Justin Carlson, Dave Duggins, Jay Gowdy, Rob MacLachlan, Christoph Mertz, Arne Suppe, Bob Wang
2005 Springer Tracts in Advanced Robotics  
The complete system has been demonstrated on the Navlab 11 vehicle for monitoring the environment of a vehicle driving through a cluttered urban environment, detecting and tracking fixed objects, moving  ...  The earlier work of the group concentrated on road following, cross-country driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving.  ...  In the civilian context, our focus is driver assistance for transit busses. Busses drive at relatively slow speeds, in crowded urban environments.  ... 
doi:10.1007/11008941_29 fatcat:wyji5lmzvvhm7oqd243mzppzlq

MATLAB Simulation for Mobile Robot Navigation with Hurdles in Cluttered Environment Using Minimum Rule based Fuzzy Logic Controller

Anish Pandey, Dayal Ramakrushna Parhi
2014 Procedia Technology - Elsevier  
We present a path-planning system that can control and safely navigate robot motion in a static environment.  ...  This technique generates suitable heading angle maneuvers control of the autonomous vehicle which is used by the robot to reach its goal safely without any collision in cluttered environment.  ...  Our aim is to design a fuzzy controller to guide the robot safely autonomous without any collision in cluttered environment from start point to goal point.  ... 
doi:10.1016/j.protcy.2014.08.005 fatcat:jy6oqx75jbcldmfyprceown7ie

Multiple Mobile Robots Navigation and Obstacle Avoidance Using Minimum Rule Based ANFIS Network Controller in the Cluttered Environment

Anish Pandey
2016 International Journal of Advanced Robotics and Automation  
In this article, the minimum rule based Adaptive Neuro-Fuzzy Inference System (ANFIS) controller has been presented for the safe navigation of single and multiple mobile robots in the cluttered environment  ...  in the cluttered environment.  ...  From the above simulation and experimental results, it can be clearly seen that the ANFIS network controller efficiently drives the robot safely in the different cluttered environment.  ... 
doi:10.15226/2473-3032/1/1/00102 fatcat:by5kjzcoeng2dk4nultgkdiole


Javier Mínguez, Luis Montano
2002 IFAC Proceedings Volumes  
To validate the method, we report experiments in unknown, nonpredictable, unstructured, cluttered, dense and complex environments. -free motion commands in a goal-directed fashion.  ...  This provides the system with the possibility of a high-rate environmental feedback (which is wellsuited in unknown and non-predictable environments).  ...  The experiments reported have a common objective: To show that this framework is able to safely drive a kinematic, dynamic, and geometric constrained mobile platform in very dense, complex and cluttered  ... 
doi:10.3182/20020721-6-es-1901.01291 fatcat:5tdvocm2k5ggbldjn2mfcv4ufy

Agoraphilic Navigation Algorithm in Dynamic Environment with and without Prediction of Moving Objects Location

H.S. Hewawasam, M. Yousef Ibrahim, Gayan Kahandawa, T. A. Choudhury
2019 IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society  
The ANADE is an optimistic navigation algorithm which is capable of navigating robots in static as well as in unknown dynamic environments.  ...  With motion prediction of moving objects, new set of future driving forces were developed. These forces has been combined with present driving force for safe and efficient navigation.  ...  has allowed the robot to navigate safely in complex environments.  ... 
doi:10.1109/iecon.2019.8927145 dblp:conf/iecon/HewawasamIKC19 fatcat:ahvmiovtcrejrhysadbnnlq46u

Hierarchical Trajectory Planning for Autonomous Driving in Low-speed Driving Scenarios Based on RRT and Optimization [article]

Yuying Chen, Haoyang Ye, Ming Liu
2019 arXiv   pre-print
Additionally, it is essential to treat these scenarios differently as, in most cases, the driving environment is narrow, dynamic, and rich with obstacles, which also causes the planning in such environments  ...  Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving  ...  These agent-based models perform well with homogeneous moving objects but can easily get the robot stuck if the environment becomes cluttered.  ... 
arXiv:1904.02606v1 fatcat:pswdert72rdz7gw3pzw3gylvau

SHIV: Reducing supervisor burden in DAgger using support vectors for efficient learning from demonstrations in high dimensional state spaces

Michael Laskey, Sam Staszak, Wesley Yu-Shu Hsieh, Jeffrey Mahler, Florian T. Pokorny, Anca D. Dragan, Ken Goldberg
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
We report on experiments in three contexts: 1) a driving simulator with a 27,936 dimensional visual feature space, 2) a pushgrasping in clutter simulation with a 22 dimensional state space, and 3) physical  ...  However they impose a burden on supervisors to respond to queries each time the robot encounters new states while executing its current best policy.  ...  INTRODUCTION In model-free robot Learning from Demonstration (LfD), a robot learns to perform a task, such as driving or grasping an object in a cluttered environment, from examples provided by a supervisor  ... 
doi:10.1109/icra.2016.7487167 dblp:conf/icra/LaskeySHMPDG16 fatcat:jg2j2wdulnc6xkyschzvvz7abm

SLAM-Based Spatial Memory for Behavior-Based Robots

Shu Jiang, Ronald C. Arkin
2015 IFAC-PapersOnLine  
However, despite advancements in both paradigms of SLAM and robot control, research in the integration of these areas has been lacking and remained open to investigation.  ...  The effectiveness of the integrated system is demonstrated with a biohazard search mission, where a robot is tasked to search and locate a biohazard within an unknown environment under a time constraint  ...  Largestfrontier "Cluttered" Environment "Open" Environment missions, operating in cluttered environments (e.g., an office floor).  ... 
doi:10.1016/j.ifacol.2015.12.033 fatcat:ph3shwjdhbfxzeictbpkmlrdvm

Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments with Movable Obstacles

Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2021 IEEE Access  
The CENTAURO robot has these advantages, but they are accompanied by a higher-dimensional search space for formulating autonomous economical motion plans, especially in cluttered environments.  ...  Combining them to create a hybrid legged-wheeled locomotion results in increased speed, agility, and reconfigurability for the robot, allowing it to traverse a multitude of environments.  ...  the robot capable of traversing more cluttered environments.  ... 
doi:10.1109/access.2021.3139438 fatcat:euvvw6jvareo7j5i5hkcwqh4tm

Aerial Locomotion in Cluttered Environments [chapter]

Dario Floreano, Jean-Christophe Zufferey, Adam Klaptocz, Jürg Germann, Mirko Kovac
2016 Springer Tracts in Advanced Robotics  
In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in  ...  Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures.  ...  Acknowledgements These works have been sponsored by several grants of the Swiss National Science Foundation, including the NCCR Robotics, by EPFL, and by the Science and Technology Division of Armasuisse  ... 
doi:10.1007/978-3-319-29363-9_2 fatcat:lunh5zsnc5gi5brb2vst7hhhna

RRT* Combined with GVO for Real-time Nonholonomic Robot Navigation in Dynamic Environment [article]

Yuying Chen, Ming Liu
2018 arXiv   pre-print
Challenges persist in nonholonomic robot navigation in dynamic environments. This paper presents a framework for such navigation based on the model of generalized velocity obstacles (GVO).  ...  By applying the GVO model to differential drive robots and by combining it with RRT*, we reduce the uncertainty of the robot trajectory, thus further reducing the range of concern, and save both computation  ...  a cluttered dynamic environment using the proposed scheme.  ... 
arXiv:1710.07102v2 fatcat:bkor6apuk5fnhgtu4icud4idrq

Robotic comfort zones

Maxim Likhachev, Ronald C. Arkin, Gerard T. McKee, Paul S. Schenker
2000 Sensor Fusion and Decentralized Control in Robotic Systems III  
Focus is placed on the identification of the salient features in the environment that affect the comfort level.  ...  This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems.  ...  ) in obstacle-free, slightly cluttered and significantly cluttered environments.  ... 
doi:10.1117/12.403722 fatcat:h6lagn5j2zctrm3kbxboio7fh4

Perception for collision avoidance and autonomous driving

Romuald Aufrère, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang, Teruko Yata
2003 Mechatronics (Oxford)  
The complete system has been demonstrated on the Navlab 11 vehicle for monitoring the environment of a vehicle driving through a cluttered urban environment, detecting and tracking fixed objects, moving  ...  The earlier work of the group concentrated on road following, cross-country driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving.  ...  Moreover, the assistance system has to discriminate between safe and unsafe situations, which is especially difficult in the cluttered environments the bus is driving in.  ... 
doi:10.1016/s0957-4158(03)00047-3 fatcat:mqnsdtsbknabjddpa2vflk75i4

Autonomous Navigation of MAVs in Unknown Cluttered Environments [article]

Leobardo Campos-Macías, Rodrigo Aldana-López, Rafael de la Guardia, José I. Parra-Vilchis, David Gómez-Gutiérrez
2019 arXiv   pre-print
To illustrate the effectiveness of the proposed framework, we present experiments in multiple indoors and outdoors environments running the algorithm fully on board and in real-time, using a robotic platform  ...  based on the Intel Ready to Fly drone kit, which represents the implementation in the most frugal platform for navigation in unknown cluttered environments demonstrated to date.  ...  They report flying in a sparsely cluttered environment at up to 2.2 m/s but with an average whole system delay of 230 ms navigation at such high velocities would not be safe in general unknown environments  ... 
arXiv:1906.08839v2 fatcat:bjst24aborhslaq4wmsfv2y5cu

Using manipulation primitives for brick sorting in clutter

Megha Gupta, Gaurav S. Sukhatme
2012 2012 IEEE International Conference on Robotics and Automation  
as the degree of clutter in the environment increases.  ...  This results in the ability to sort cluttered piles of duplo bricks accurately.  ...  The authors are with the Robotic Embedded Systems Laboratory and the Computer Science Department, University of Southern California, Los Angeles, CA, USA,  ... 
doi:10.1109/icra.2012.6224787 dblp:conf/icra/GuptaS12 fatcat:hpbzjcdni5fbzglgioi4udqzuu
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