Safe Navigation of a Mobile Robot Considering Visibility of Environment

• Published in: IEEE transactions on industrial electronics (1982) Vol. 56; no. 10; pp. 3941 - 3950
• Main Authors: Woojin Chung, Woojin Chung, Seokgyu Kim, Seokgyu Kim, Minki Choi, Minki Choi, Jaesik Choi, Jaesik Choi, Hoyeon Kim, Hoyeon Kim, Chang-bae Moon, Chang-bae Moon, Jae-Bok Song, Jae-Bok Song
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2009; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Buildings; Collision avoidance; Collision dynamics; Dynamics; Mobile robot navigation; Mobile robots; Motion control; Navigation; obstacle avoidance; Obstacles; Path planning; Risk; Robot control; Robot motion; Robots; speed control; Studies; Testing; Velocity control; Visibility

We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only ldquovisiblerdquo ones amon...