Safe navigation in dynamic, unknown, continuous, and cluttered environments

Mike Daarcy; Pooyan Fazli; Dan Simon

doi:10.1109/SSRR.2017.8088169

Safe navigation in dynamic, unknown, continuous, and cluttered environments

Mike Daarcy
, Pooyan Fazli
, Dan Simon

Electrical and Computer Engineering

Cleveland State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner we use as a benchmark.

Original language	English
Title of host publication	SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	238-244
Number of pages	7
ISBN (Electronic)	9781538639221
DOIs	https://doi.org/10.1109/SSRR.2017.8088169
State	Published - Oct 26 2017
Event	15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China Duration: Oct 11 2017 → Oct 13 2017

Conference

Conference	15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
Country/Territory	China
Period	10/11/17 → 10/13/17

Access to Document

10.1109/SSRR.2017.8088169

Cite this

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title = "Safe navigation in dynamic, unknown, continuous, and cluttered environments",

abstract = "We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77\% reduction in collisions over the straight-line local planner we use as a benchmark.",

author = "Mike Daarcy and Pooyan Fazli and Dan Simon",

year = "2017",

month = oct,

day = "26",

doi = "10.1109/SSRR.2017.8088169",

language = "English",

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booktitle = "SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 ; Conference date: 11-10-2017 Through 13-10-2017",

}

Daarcy, M, Fazli, P & Simon, D 2017, Safe navigation in dynamic, unknown, continuous, and cluttered environments. in SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference., 8088169, Institute of Electrical and Electronics Engineers Inc., usa, pp. 238-244, 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017, China, 10/11/17. https://doi.org/10.1109/SSRR.2017.8088169

Safe navigation in dynamic, unknown, continuous, and cluttered environments. / Daarcy, Mike; Fazli, Pooyan; Simon, Dan.
SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference. usa: Institute of Electrical and Electronics Engineers Inc., 2017. p. 238-244 8088169.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We introduce ProbLP, a probabilistic local planner, for safe navigation of an autonomous robot in dynamic, unknown, continuous, and cluttered environments. We combine the proposed reactive planner with an existing global planner and evaluate the hybrid in challenging simulated environments. The experiments show that our method achieves a 77% reduction in collisions over the straight-line local planner we use as a benchmark.

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Safe navigation in dynamic, unknown, continuous, and cluttered environments

Abstract

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