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Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques

2023
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Release : 2023
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Book Synopsis Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques by : Zhuolin Niu

Download or read book Safe Autonomous Robot Navigation in Dynamic Environments Using Reference Governor and Control Barrier Function Techniques written by Zhuolin Niu. This book was released on 2023. Available in PDF, EPUB and Kindle. Book excerpt: This thesis considers the problem of safe navigation for autonomous mobile robots working in partially known environments with static and non-adversarial dynamic obstacles. A virtual reference governor system is designed to serve as a local regulation point for the real robot system. We calculate a safe set of the robot-governor system by actively measuring the distance from surrounding static obstacles. The motion of the governor is designed to guide the robot towards the goal, while remaining within the safe set. To avoid dynamic obstacles, a control barrier function is built to further constrain the governor-robot system away from dynamic obstacles. A quadratically constrained quadratic program (QCQP) is formulated to minimally modify the governor control input to ensure dynamic obstacle avoidance. Combining these two techniques, the robot can navigate autonomously in unknown environments--slowing down when approaching obstacles, speeding up in free space, and reacting to the position and velocity of the surrounding dynamic obstacles. Our techniques are demonstrated in simulations and real-world experiments using a ground robot equipped with LiDAR to navigate among a cluttered environment in the presence of humans.

Safe Autonomy with Control Barrier Functions

2023-05-09 Technology & Engineering
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Release : 2023-05-09
Genre : Technology & Engineering
Kind : eBook
Book Rating : 764/5 ( reviews)

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Book Synopsis Safe Autonomy with Control Barrier Functions by : Wei Xiao

Download or read book Safe Autonomy with Control Barrier Functions written by Wei Xiao. This book was released on 2023-05-09. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the concept of Control Barrier Function (CBF), which captures the evolution of safety requirements during the execution of a system and can be used to enforce safety. Safety is formalized using an emerging state-of-the-art approach based on CBFs, and many illustrative examples from autonomous driving, traffic control, and robot control are provided. Safety is central to autonomous systems since they are intended to operate with minimal or no human supervision, and a single failure could result in catastrophic results. The authors discuss how safety can be guaranteed via both theoretical and application perspectives. This presented method is computationally efficient and can be easily implemented in real-time systems that require high-frequency reactive control. In addition, the CBF approach can easily deal with nonlinear models and complex constraints used in a wide spectrum of applications, including autonomous driving, robotics, and traffic control. With the proliferation of autonomous systems, such as self-driving cars, mobile robots, and unmanned air vehicles, safety plays a crucial role in ensuring their widespread adoption. This book considers the integration of safety guarantees into the operation of such systems including typical safety requirements that involve collision avoidance, technological system limitations, and bounds on real-time executions. Adaptive approaches for safety are also proposed for time-varying execution bounds and noisy dynamics.

Autonomous Navigation in Dynamic Environments

2007-10-14 Technology & Engineering
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Release : 2007-10-14
Genre : Technology & Engineering
Kind : eBook
Book Rating : 228/5 ( reviews)

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Book Synopsis Autonomous Navigation in Dynamic Environments by : Christian Laugier

Download or read book Autonomous Navigation in Dynamic Environments written by Christian Laugier. This book was released on 2007-10-14. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions. It addresses the challenging problem of autonomous navigation in dynamic environments, presenting new ideas and approaches in this emerging technical domain. Coverage discusses in detail various related challenging technical aspects and addresses upcoming technologies in this field.

Safe Robot Navigation Among Moving and Steady Obstacles

2015-09-25 Technology & Engineering
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Release : 2015-09-25
Genre : Technology & Engineering
Kind : eBook
Book Rating : 571/5 ( reviews)

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Book Synopsis Safe Robot Navigation Among Moving and Steady Obstacles by : Andrey V. Savkin

Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin. This book was released on 2015-09-25. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control

Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments

2018
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Release : 2018
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Book Synopsis Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments by : Arash Roshanineshat

Download or read book Evolutionary Optimization for Safe Navigation of an Autonomous Robot in Cluttered Dynamic Unknown Environments written by Arash Roshanineshat. This book was released on 2018. Available in PDF, EPUB and Kindle. Book excerpt: We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to the D* Lite algorithm and results are presented.In the last section, the parameters of the robot are optimized using biogeography-based optimization (BBO). This is an efficient multivariable optimizer and it is shown that the results of optimization achieve significant improvement in robot navigation performance.In this thesis, we show that using evolutionary optimization methods like BBO can reduce the risk of collision and the navigation time by about 25% each. The resulting risk of collision indicates safe navigation by the robot which leads to the conclusion that this is a feasible method for real-world robots.

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