Determining states of inevitable collision using reachability analysis

Andreas Lawitzky, Anselm Nicklas, Dirk Wollherr, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

23 Scopus citations

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.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4142-4147
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - 31 Oct 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Publication series

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

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States
CityChicago
Period14/09/1418/09/14

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