Скачать или смотреть Reactive Navigation in Partially Known Non-Convex Environments

13th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2018)
Authors: Vasileios Vasilopoulos, Daniel E. Koditschek

This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range onboard sensor, capable of recognizing, localizing and (leveraging ideas from constructive solid geometry) generating online from its catalogue of the familiar, non-convex shapes an implicit representation of each one. These representations underlie an online change of coordinates to a completely convex model planning space wherein a previously developed online construction yields a provably correct reactive controller that is pulled back to the physically sensed representation to generate the actual robot commands. We extend the construction to differential drive robots, and suggest the empirical utility of the proposed control architecture using both formal proofs and numerical simulations.

This work was supported by AFRL grant FA865015D1845 (subcontract 6697371). The authors thank Dr. Omur Arslan for many formative discussions and for sharing his simulation and presentation infrastructure.