Autonomous Robot Navigation Using Advanced Motion Primitives

Mihail Pivtoraiko, Issa A.D. Nesnas, and Alonzo Kelly. Autonomous Robot Navigation Using Advanced Motion Primitives. In Proc. of the IEEE Aerospace Conference, pp. 1–7, March 2009.

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Abstract

We present an approach to efficient navigation of autonomous wheeled robots operating in cluttered natural environments. The approach builds upon a popular method of autonomous robot navigation, where desired robot motions are computed using local and global motion planners operating in tandem. A conventional approach to designing the local planner in this setting is to evaluate a fixed number of constant-curvature arc motions and pick one that is the best balance between the quality of obstacle avoidance and minimizing traversed path length to the goal (or a similar measure of operation cost). The presented approach proposes a different set of motion alternatives considered by the local planner. Important performance improvement is achieved by relaxing the assumption that motion alternatives are constant-curvature arcs. We first present a method to measure the quality of local planners in this setting. Further, we identify general techniques of designing improved sets of motion alternatives. By virtue of a minor modification, solely replacing the motions considered by the local planner, our approach offers a measurable performance improvement of dual-planner navigation systems

BibTeX

@INPROCEEDINGS{pivtoraiko_nesnas_kelly_aerospace09,
  author = {Mihail Pivtoraiko and Issa A.D. Nesnas and Alonzo Kelly},
  title = {Autonomous Robot Navigation Using Advanced Motion Primitives},
  booktitle = {Proc. of the IEEE Aerospace Conference},
  year = {2009},
  pages = {1--7},
  month = {March},
  abstract = {We present an approach to efficient navigation of
                  autonomous wheeled robots operating in cluttered
                  natural environments. The approach builds upon a
                  popular method of autonomous robot navigation, where
                  desired robot motions are computed using local and
                  global motion planners operating in tandem. A
                  conventional approach to designing the local planner
                  in this setting is to evaluate a fixed number of
                  constant-curvature arc motions and pick one that is
                  the best balance between the quality of obstacle
                  avoidance and minimizing traversed path length to
                  the goal (or a similar measure of operation
                  cost). The presented approach proposes a different
                  set of motion alternatives considered by the local
                  planner. Important performance improvement is
                  achieved by relaxing the assumption that motion
                  alternatives are constant-curvature arcs. We first
                  present a method to measure the quality of local
                  planners in this setting. Further, we identify
                  general techniques of designing improved sets of
                  motion alternatives. By virtue of a minor
                  modification, solely replacing the motions
                  considered by the local planner, our approach offers
                  a measurable performance improvement of dual-planner
                  navigation systems},
  bib2html_pubtype = {Refereed Conference Papers},
  bib2html_rescat = {Robot Navigation},
  doi = {10.1109/AERO.2009.4839309}
}