Determining states of inevitable collision using reachability analysis

Andreas Lawitzky, Anselm Nicklas, Dirk Wollherr, Martin Buss

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

23 Zitate (Scopus)

Abstract

In this paper the states of inevitable collision for mobile robots are determined using reachable set theory. With this theory the safety for robotic platforms can be guaranteed, still allowing maximum flexibility for navigation. Making use of reachability analysis, limitations due to input sampling as in previous approaches are avoided. Using reachability analysis the obstacles are grown in the state space. The mathematical background is shown in this paper and an exemplary algorithm is given for static environments. This implementation can handle arbitrary environments with multiple obstacles and different high-dimensional linear and non-linear system dynamics including the car-like kinematic model. By means of experimental results in simulated environments, the validity of the proposed concept is shown.

OriginalspracheEnglisch
TitelIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten4142-4147
Seitenumfang6
ISBN (elektronisch)9781479969340
DOIs
PublikationsstatusVeröffentlicht - 31 Okt. 2014
Veranstaltung2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, USA/Vereinigte Staaten
Dauer: 14 Sept. 201418 Sept. 2014

Publikationsreihe

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (elektronisch)2153-0866

Konferenz

Konferenz2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Land/GebietUSA/Vereinigte Staaten
OrtChicago
Zeitraum14/09/1418/09/14

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