Mobility Erosion: High speed motion safety for mobile robots operating in off-road terrain
Name
mobility_erosion_ICRA2013_preprint.pdf
Size
2.44 MB
Format
Adobe PDF
Checksum (MD5)
9cf42927029fed6251fbfe8658af9c31
Author(s)
Karumanchi, Sisir B.
Iagnemma, Karl
Scheding, Steve
Karumanchi, Sisir B.
Date Issued
May 2013
Journal
Proceedings of the 2013 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Karumanchi, Sisir, Karl Iagnemma, and Steve Scheding. “Mobility Erosion: High Speed Motion Safety for Mobile Robots Operating in Off-Road Terrain.” 2013 IEEE International Conference on Robotics and Automation (n.d.).
Version
Author's final manuscript
Abstract
This paper addresses the problem of ensuring mobile robot motion safety when reacting to soft and hard hazards in a static environment. The work is aimed at off-road navigation for mobile ground robots where soft hazards are posed by varying terrain conditions (e.g. deformable soil, slopes, vegetation). Soft hazards pose operating constraints (i.e. speed limits) to the mobile robot that need to be satisfied to ensure motion safety. This paper presents a new morphological erosion operator that generalizes binary obstacle growing to mobility space (the space of speed limits) to deal with both hard and soft hazards seamlessly. This ensures that topological constraints due to vehicle size as well as momentum are taken into account, and leads to a straight-forward approach to generalize the concept of `regions of inevitable collision' for soft hazards.
MIT Department
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2013.6630606
