Mobile robot navigation in dynamic and unknown environments

Erik Zamora; Wen Yu

doi:10.1109/CCA.2014.6981473

Mobile robot navigation in dynamic and unknown environments

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Navigation in dynamic or unknown environment is a challenge for autonomous vehicles because of the limited range of sensors and not accurate maps. In this paper, we analyze three conditions on the unobserved and uncertainty environment during navigation. They are 'known space', 'free space', and 'unknown space'. For the dynamic environment, we derive an algorithm to correct the false obstacles in the map when a conventional path planning is stuck. For the unknown environment, we derive novel algorithms and compare them with the classical approaches under free space condition. Finally we use Monte Carlo method to evaluate the performance of these algorithms. Experimental results show that our conditions based algorithms are better than the others.

Original language	English
Title of host publication	2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1046-1051
Number of pages	6
ISBN (Electronic)	9781479974092
DOIs	https://doi.org/10.1109/CCA.2014.6981473
State	Published - 9 Dec 2014
Externally published	Yes
Event	2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes, France Duration: 8 Oct 2014 → 10 Oct 2014

Publication series

Name	2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014

Conference

Conference	2014 IEEE Conference on Control Applications, CCA 2014
Country/Territory	France
City	Juan Les Antibes
Period	8/10/14 → 10/10/14

Access to Document

10.1109/CCA.2014.6981473

Cite this

Zamora, E., & Yu, W. (2014). Mobile robot navigation in dynamic and unknown environments. In 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014 (pp. 1046-1051). Article 6981473 (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2014.6981473

Zamora, Erik ; Yu, Wen. / Mobile robot navigation in dynamic and unknown environments. 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1046-1051 (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014).

@inproceedings{8211a90dff5348838e6042e44605e2e3,

title = "Mobile robot navigation in dynamic and unknown environments",

abstract = "Navigation in dynamic or unknown environment is a challenge for autonomous vehicles because of the limited range of sensors and not accurate maps. In this paper, we analyze three conditions on the unobserved and uncertainty environment during navigation. They are 'known space', 'free space', and 'unknown space'. For the dynamic environment, we derive an algorithm to correct the false obstacles in the map when a conventional path planning is stuck. For the unknown environment, we derive novel algorithms and compare them with the classical approaches under free space condition. Finally we use Monte Carlo method to evaluate the performance of these algorithms. Experimental results show that our conditions based algorithms are better than the others.",

author = "Erik Zamora and Wen Yu",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE Conference on Control Applications, CCA 2014 ; Conference date: 08-10-2014 Through 10-10-2014",

year = "2014",

month = dec,

day = "9",

doi = "10.1109/CCA.2014.6981473",

language = "Ingl{\'e}s",

series = "2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1046--1051",

booktitle = "2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014",

address = "Estados Unidos",

}

Zamora, E & Yu, W 2014, Mobile robot navigation in dynamic and unknown environments. in 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014., 6981473, 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1046-1051, 2014 IEEE Conference on Control Applications, CCA 2014, Juan Les Antibes, France, 8/10/14. https://doi.org/10.1109/CCA.2014.6981473

Mobile robot navigation in dynamic and unknown environments. / Zamora, Erik; Yu, Wen.
2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1046-1051 6981473 (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mobile robot navigation in dynamic and unknown environments

AU - Zamora, Erik

AU - Yu, Wen

PY - 2014/12/9

Y1 - 2014/12/9

N2 - Navigation in dynamic or unknown environment is a challenge for autonomous vehicles because of the limited range of sensors and not accurate maps. In this paper, we analyze three conditions on the unobserved and uncertainty environment during navigation. They are 'known space', 'free space', and 'unknown space'. For the dynamic environment, we derive an algorithm to correct the false obstacles in the map when a conventional path planning is stuck. For the unknown environment, we derive novel algorithms and compare them with the classical approaches under free space condition. Finally we use Monte Carlo method to evaluate the performance of these algorithms. Experimental results show that our conditions based algorithms are better than the others.

AB - Navigation in dynamic or unknown environment is a challenge for autonomous vehicles because of the limited range of sensors and not accurate maps. In this paper, we analyze three conditions on the unobserved and uncertainty environment during navigation. They are 'known space', 'free space', and 'unknown space'. For the dynamic environment, we derive an algorithm to correct the false obstacles in the map when a conventional path planning is stuck. For the unknown environment, we derive novel algorithms and compare them with the classical approaches under free space condition. Finally we use Monte Carlo method to evaluate the performance of these algorithms. Experimental results show that our conditions based algorithms are better than the others.

UR - http://www.scopus.com/inward/record.url?scp=84920549001&partnerID=8YFLogxK

U2 - 10.1109/CCA.2014.6981473

DO - 10.1109/CCA.2014.6981473

M3 - Contribución a la conferencia

AN - SCOPUS:84920549001

T3 - 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014

SP - 1046

EP - 1051

BT - 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE Conference on Control Applications, CCA 2014

Y2 - 8 October 2014 through 10 October 2014

ER -

Zamora E, Yu W. Mobile robot navigation in dynamic and unknown environments. In 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1046-1051. 6981473. (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014). doi: 10.1109/CCA.2014.6981473

Mobile robot navigation in dynamic and unknown environments

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this