A framework for safe assisted navigation of semi-autonomous vehicles among moving and steady obstacles. Issue 5 (22nd January 2016)

• Record Type: Journal Article
• Authors: Savkin, Andrey V.; Wang, Chao
• Is Part Of: Robotica. Volume 35:Issue 5(2017)
• Page Start: 981
• Page End: 1005
• Publication Date: 2016-01-22
• Subjects: Assisted navigation, -- Semi-autonomous vehicles, -- Moving obstacles, -- Collision avoidance, -- Reactive navigation, -- Robot navigation, -- mobile robots, -- Mobile robotic hospital bed; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574715000922
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: We present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of collision with obstacle. A mathematically rigorous analysis of the proposed approach is provided. The performance of the proposed assisted navigation system is demonstrated via experiments with a real semi-autonomous hospital bed and extensive computer simulations.