Paper Info
Title
VC-method: high-speed navigation of a uniformly braking mobile robot using position-velocity configuration space
Abstract
This paper considers the problem of fast autonomous mobile robot navigation between obstacles while attempting to maximize velocity subject to safe braking constraints. The paper introduces position-velocity configuration space. Within this space, keeping a uniform braking distance from the obstacles can be modeled as forbidden regions called vc-obstacles. Using Morse Theory, the paper characterizes the critical position-velocity points where two vc-obstacles meet and locally disconnect the free position-velocity space. These points correspond to critical events where the robot's velocity becomes too large to support safe passage between neighboring obstacles. The velocity dependent critical points induce a cellular decomposition of the free position-velocity space into cells. Each cell is associated with a particular range of velocities that can be safely followed by the robot. The vc-method searches the cells' adjacency graph for a maximum velocity path. The method outputs a pseudo time optimal path which maintains safe braking distance from the obstacles throughout the robot motion. Simulations and experiments demonstrate the method and highlight the usefulness of taking the path's velocity into account during the path planning process.
Year
DOI
Venue
2013
10.1007/s10514-013-9322-7
Auton. Robots
Keywords
Field
DocType
Mobile robot navigation,Velocity configuration space,Braking distance
Motion planning,Adjacency list,Computer science,Simulation,Braking distance,Mobile robot navigation,Robot,Cellular decomposition,Mobile robot,Configuration space
Journal
Volume
Issue
ISSN
34
4
0929-5593
Citations 
PageRank 
References 
1
0.37
14
Authors
2
Name
Order
Citations
PageRank
Gil Manor131.45
Elon Rimon21128157.34