Region with velocity constraints: map information and its usage for safe motion planning of a mobile robot in a public environment. (18th May 2016)

• Record Type: Journal Article
• Authors: Kim, Tae Hyon; Kon, Kazuyuki; Matsuno, Fumitoshi
• Is Part Of: Advanced robotics. Volume 30:Number 10(2016)
• Page Start: 635
• Page End: 651
• Publication Date: 2016-05-18
• Subjects: Motion planning -- hazard region -- velocity constraints -- autonomous mobile robot; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2016.1152198
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : Recently, various autonomous mobile robots have been developed for practical use. To support the coexistence of robots and humans in real environments, we propose a concept named 'Region with Velocity Constraints (RVC), ' which is set around hazardous areas. RVCs are regions where the velocities of the robot are constrained to predefined values. Inside the RVCs, the robot has to reduce its translational velocity to avoid predicted hazards such as collisions with obstacles, and to reduce its rotational velocity to prevent undesirable motions such as sharp turns. We also propose a motion planning method for navigating the mobile robot in an environment with RVCs based on the Navigation Function and Global Dynamic Window Approach. Our method generates a trajectory satisfying both translational and rotational velocity constraints to be compatible with the surroundings. Moreover, to demonstrate the validity of our method, we performed numerical simulations and experiments.