Safe robot navigation among moving and steady obstacles / Alexey S. Matveev [and three others].

Format:

Book

Author/Creator:

Savkin, Andrey V., author.

Matveev, Alexey S., author.

Language:

English

Subjects (All):

Mobile robots--Navigation.

Mobile robots.

Autonomous robots.

Physical Description:

1 online resource (0 p.)

Edition:

1st ed.

Place of Publication:

Amsterdam, [Netherlands] : Butterworth-Heinemann, 2016.

Language Note:

English

Summary:

Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environmentsBridges the gap between mathematical model and practical algorithmsPresents implementable and computationally efficient algorithms of robot navigationIncludes mathematically rigorous proofs of their convergenceA detailed review of existing reactive navigation algorithm for obstacle avoidanceDescribes fundamentals of sliding mode control

Contents:

Front Cover

Safe Robot Navigation Among Moving and Steady Obstacles

Copyright

Contents

Preface

Abbreviations

Frequently used notations

Chapter 1: Introduction

1.1 Collision-free navigation of wheeled robots among moving and steady obstacles

1.2 Overview and organization of the book

1.3 Sliding mode control

1.4 Experimental equipment

1.4.1 Laboratorial wheeled robot Pioneer P3-DX

1.4.2 Intelligent autonomous wheelchair system

1.4.3 Autonomous hospital bed system

Chapter 2: Fundamentals of sliding mode control

2.1 Introduction

2.2 Sliding motion

2.3 Filippov solutions

Chapter 3: Survey of algorithms for safe navigation of mobile robots in complex environments

3.1 Introduction

3.1.1 Exclusions

3.2 Problem considerations

3.2.1 Environment

3.2.2 Kinematics of mobile robots

3.2.3 Sensor data

3.2.4 Optimality criteria

3.2.5 Biological inspiration

3.2.6 Implementation examples

3.2.7 Summary of the methods reviewed

3.3 Model predictive control

3.3.1 Robust MPC

3.3.2 Nonlinear MPC

3.3.3 Planning algorithms

3.4 Sensor-based techniques

3.4.1 Obstacle avoidance via boundary following

3.4.1.1 Distance based

3.4.1.2 Sliding mode control

3.4.1.3 Bug algorithms

3.4.1.4 Full information based

3.4.2 Sensor-based path planning

3.4.3 Other reactive methods

3.4.3.1 Artificial potential field methods

3.4.3.2 Uncategorized approaches

3.5 Moving obstacles

3.5.1 Human-like obstacles

3.5.2 Known obstacles

3.5.3 Kinematically constrained obstacles

3.5.3.1 Path-based methods

3.5.3.2 Reactive methods

3.6 Multiple robot navigation

3.6.1 Communication types

3.6.2 Reactive methods

3.6.2.1 Potential field methods

3.6.2.2 Reciprocal collision avoidance methods

3.6.2.3 Hybrid logic approaches

3.6.3 Decentralized MPC.

Chapter 4: Shortest path algorithm for navigation of wheeled mobile robots among steady obstacles

4.1 Introduction

4.2 System description and main assumptions

4.3 Off-line shortest path planning

4.4 On-line navigation

4.5 Computer simulations

4.6 Experiments with a real robot

Chapter 5: Reactive navigation of wheeled robots for border patrolling

5.1 Introduction

5.2 Boundary following using a minimum distance sensor: System description and problem statement

5.3 Main assumptions of theoretical analysis

5.4 Navigation for border patrolling based on minimum distance measurements

5.4.1 Proof of Theorem 4.1

5.5 Computer simulations of border patrolling with a minimum distance sensor

5.6 Boundary following with a rigidly mounted distance sensor: Problem setup

5.7 Assumptions of theoretical analysis and tuningof the navigation controller

5.7.1 Tuning of the navigation controller

5.8 Boundary following with a rigidly mounted sensor: Convergence of the proposednavigation law

5.8.1 Illustrative analysis of the convergence domain

5.8.2 Proofs of Theorem 8.1 and Lemmas 8.1 and 8.2

5.9 Computer simulations of border patrolling with a rigidly mounted distance sensor

5.10 Experiments with a real robot

Chapter 6: Safe navigation to a target in unknown cluttered static environments

6.1 Navigation for target reaching with obstacle avoidance: Problem statement and navigation strategy

6.2 Assumptions of theoretical analysis and convergence of the navigation strategy

6.2.1 Proof of Theorem 2.1

6.3 Computer simulations of navigation with obstacle avoidance

Chapter 7: Algorithm for reactive navigation of nonholonomic robots in maze-like environments

7.1 Introduction

7.2 Problem setup and navigation strategy

7.3 Assumptions of theoretical analysis and tuning the navigation law.

7.4 Convergence and performance of the navigation law

7.4.1 Proof of Proposition 4.2 and Remark 4.2

7.4.2 Proof of Theorem 4.1

7.5 Simulations and experiments with a real wheeled robot

7.A Appendix: Proofs of Proposition 4.1 and Lemmas 4.6 and 4.7

7.A.1 Technical facts and the proof of Lemma 4.7

7.A.2 Auxiliary deterministic algorithm

7.A.3 Symbolic path and its properties

7.A.4 Proof of Proposition A.1

7.A.5 Proof of Proposition 4.1

7.A.6 Proof of Lemma 4.6

Chapter 8: Biologically-inspired algorithm for safe navigation of a wheeled robot among moving obstacles

8.1 Introduction

8.2 Problem description

8.3 Navigation algorithm

8.4 Mathematical analysis of the navigation strategy

8.4.1 Proof of Theorem 4.1

8.5 Computer simulations

8.6 Experiments with a laboratorial wheeled robot

8.7 Algorithm implementation with a robotic wheelchair

8.7.1 Experimental results with an intelligent autonomous wheelchair

8.8 Algorithm implementation with a robotic motorized hospital bed

8.8.1 Experimental results with Flexbed

Chapter 9: Reactive navigation among moving and deforming obstacles: Problems of border patrolling and avoiding collisions

9.1 Introduction

9.2 System description and border patrolling problem

9.3 Navigation for border patrolling

9.4 Main assumptions

9.4.1 Proof of Proposition 4.1

9.5 Main results concerning border patrolling problem

9.5.1 Proofs of Theorem 5.1, Lemma 5.1, and Remarks 5.2 and 5.3

9.6 Illustrative examples of border patrolling

9.6.1 Steady rigid body

9.6.2 Rigid body moving with a constant speed V in a priori unknown and fixed direction

9.6.3 Translational motion of a rigid body

9.6.4 Escorting a convoy of unicycle-like vehicles

9.6.5 Escorting a bulky cigar-shaped vehicle.

9.7 Navigation in an environment cluttered with moving obstacles

9.8 Simulations

9.9 Experimental results

Chapter 10: Seeking a path through the crowd: Robot navigation among unknowingly moving obstacles based on an integrated repres

10.1 Introduction

10.2 Problem description

10.3 Navigation algorithm

10.4 Mathematical analysis of the navigation strategy

10.4.1 Proof of Theorem 4.1

10.5 Computer simulations

10.6 Experiments with a real robot

Chapter 11: A globally converging reactive algorithm for robot navigation in scenes densely cluttered with moving and deforming

11.1 Introduction

11.2 Problem setup

11.3 The navigation algorithm

11.4 Collision avoidance

11.5 Achieving the main navigation objective

11.5.1 Counterexample

11.5.2 Main results

11.5.3 Proof of Theorem 5.1

11.6 Illustrations of the main results for special scenarios

11.6.1 Disk-shaped obstacles

11.6.1.1 Irregularly and unpredictably moving disk-shaped obstacles with a common speed bound

11.6.1.2 Motion along a corridor obstructed with irregularly and unpredictably moving disk-shaped obstacles

11.6.2 Thin cigar-shaped obstacles

11.6.2.1 Steady-size segments irregularly and unpredictably moving so that they remain perpendicular to the desired direction f

11.6.3 Navigation in the field of rotating segments

11.7 Simulations

Chapter 12: Safe cooperative navigation of multiple wheeled robots in unknown steady environments with obstacles

12.1 Introduction

12.2 Problem statement

12.3 Proposed navigation system

12.3.1 Architecture of navigation system

12.3.2 Enhanced safety margins adopted by TPM

12.3.3 Trajectory planning module

12.3.3.1 Generation of planned trajectories (Step S.1)

12.3.3.2 Refinement of the planned trajectories (Step S.2).

12.3.3.3 Selection of the probational trajectory

12.3.3.4 Entire operation of the trajectory planning module

12.3.4 Trajectory tracking module

12.3.4.1 Path tracking module

12.3.4.2 Longitudinal tracking module

12.3.5 Collision avoidance

12.3.6 Concluding remarks

12.4 Simulation results

12.5 Experimental results with wheeled robots

Bibliography

Index

Back Cover.

Notes:

Description based upon print version of record.

Includes bibliographical references and index.

Description based on online resource; title from PDF title page (ebrary, viewed December 1, 2015).

ISBN:

9780128037577

0128037571

OCLC:

932328893