Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control using Graphs of Scan Regions
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arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866929509562843136 |
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| author | Latha, Dharshan Bashkaran Arslan, Ömür |
| author_facet | Latha, Dharshan Bashkaran Arslan, Ömür |
| contents | Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments. Hybrid metric-topological maps, constructed as a pose graph of local submaps, offer a computationally efficient world representation for adaptive mapping, planning, and control at the regional level. In this paper, we consider a pose graph of locally sensed star-convex scan regions as a metric-topological map, with star convexity enabling simple yet effective local navigation strategies. We design a new family of safe local scan navigation policies and present a perception-driven feedback motion planning method through the sequential composition of local scan navigation policies, enabling provably correct and safe robot navigation over the union of local scan regions. We introduce a new concept of bridging and frontier scans for automated key scan selection and exploration for integrated mapping and navigation in unknown environments. We demonstrate the effectiveness of our key-scan-based navigation and mapping framework using a mobile robot equipped with a 360$^{\circ}$ laser range scanner in 2D cluttered environments through numerical ROS-Gazebo simulations and real hardware~experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_13838 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control using Graphs of Scan Regions Latha, Dharshan Bashkaran Arslan, Ömür Robotics Systems and Control 68T40, 68T45, 93B52 I.2.9; I.2.8; I.2.10 Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments. Hybrid metric-topological maps, constructed as a pose graph of local submaps, offer a computationally efficient world representation for adaptive mapping, planning, and control at the regional level. In this paper, we consider a pose graph of locally sensed star-convex scan regions as a metric-topological map, with star convexity enabling simple yet effective local navigation strategies. We design a new family of safe local scan navigation policies and present a perception-driven feedback motion planning method through the sequential composition of local scan navigation policies, enabling provably correct and safe robot navigation over the union of local scan regions. We introduce a new concept of bridging and frontier scans for automated key scan selection and exploration for integrated mapping and navigation in unknown environments. We demonstrate the effectiveness of our key-scan-based navigation and mapping framework using a mobile robot equipped with a 360$^{\circ}$ laser range scanner in 2D cluttered environments through numerical ROS-Gazebo simulations and real hardware~experiments. |
| title | Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control using Graphs of Scan Regions |
| topic | Robotics Systems and Control 68T40, 68T45, 93B52 I.2.9; I.2.8; I.2.10 |
| url | https://arxiv.org/abs/2409.13838 |