TY - GEN
T1 - Mobile robot navigation in dynamic and unknown environments
AU - Zamora, Erik
AU - Yu, Wen
N1 - Publisher Copyright:
© 2014 IEEE.
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 -