Skip to Main content Skip to Navigation
Book section

Provably Safe Motions Strategies for Mobile Robots in Dynamic Domains

Abstract : We present in this paper a methodology for computing the maximum velocity profile over a trajectory planned for a mobile robot. Environment and robot dynamics as well as the constraints of the robot sensors determine the profile. The planned profile is indicative of maximum speeds that can be possessed by the robot along its path without colliding with any of the mobile objects that could intercept its future trajectory. The mobile objects could be arbitrary in number and the only information available is their maximum possible velocity. The velocity profile also enables to deform planned trajectories for better trajectory time. The methodology has been adopted for holonomic and non-holonomic motion planners. An extension of the approach to an online real-time scheme that modifies and adapts the path as well as velocities to changes in the environment such that both safety and execution time are not compromised is also presented for the holonomic case. Simulation and experimental results illustrate the efficacy of this methodology.
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.laas.fr/hal-01976209
Contributor : Rachid Alami <>
Submitted on : Friday, January 11, 2019 - 7:44:44 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM

File

2007-springer-alami.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01976209, version 1

Citation

Rachid Alami, K. Madhava Krishna, Thierry Simeon. Provably Safe Motions Strategies for Mobile Robots in Dynamic Domains. Autonomous Navigation in Dynamic Environments, 35, Springer Berlin Heidelberg, pp.85-106, 2007, Springer Tracts in Advanced Robotics. ⟨hal-01976209⟩

Share

Metrics

Record views

155

Files downloads

78