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Iterative Motion Planning and Safety Issue

Thierry Fraichard 1, * Thomas Howard 2
* Corresponding author
1 PRIMA - Perception, recognition and integration for observation of activity
CNRS - Centre National de la Recherche Scientifique : UMR5217, INPG - Institut National Polytechnique de Grenoble , UJF - Université Joseph Fourier - Grenoble 1, Inria Grenoble - Rhône-Alpes
Abstract : This chapter addresses safe mobile robot navigation in complex environments. The challenges in this class of navigation problems include nontrivial vehicle dynamics and terrain interaction, static and dynamic environments, and incomplete information. This complexity prompted the design of hierarchical solutions featuring a multilevel strategy where strategic behaviors are planned at a global scale and tactical or safety decisions are made at a local scale. While the task of the high level is generally to compute the sequence of waypoints or waystates to reach the goal, the local planner computes the actual trajectory that will be executed by the system. Due to computational resource limitations, finite sensing horizon, and temporal constraints of mobile robots, the local trajectory is only partially computed to provide a motion that makes progress toward the goal state. This chapter focuses on safely and efficiently computing the local trajectory in the context of mobile robot navigation. This chapter is divided into three sections: motion safety, iterative motion planning, and applications. Motion safety discusses the issues related to determining if a trajectory is safely traversable by a mobile robot. Iterative motion planning reviews developments in local motion planning search space design with a focus on potential field, sampling, and graph search techniques. The applications section surveys experiments and applications in autonomous mobile robot navigation in outdoor and urban environments.
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Submitted on : Wednesday, December 26, 2012 - 9:31:54 PM
Last modification on : Thursday, January 20, 2022 - 5:31:48 PM

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Thierry Fraichard, Thomas Howard. Iterative Motion Planning and Safety Issue. Azim Eskandarian. Handbook of Intelligent Vehicles, Springer, pp.1433-1458, 2012, 978-0-85729-084-7. ⟨10.1007/978-0-85729-085-4_55⟩. ⟨hal-00768956⟩



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