ACTIVE SENSING IN SENSOR-BASED MOTION PLANNING WITH DYNAMICS

摘要

This paper studies active sensing strategies for an autonomous wheeled mobile robot moving on a flat surface among unknown static obstacles. The robot is defined by its geometry, its dynamic motion equations and a control policy. The latter comes from a path planning algorithm which produces changing intermediate goal coordinates to pursue, and motoring signals based on local information. We want to know which is the (minimum) area we need to explore with the robot sensors in order to guarantee that a certain intended motoring signal is safe. The proposed solution depends on a) the sensor system design, b) the robot actual velocity and c) the robot dynamics. All these factors must be taken into account for safety and efficiency reasons. The result is an adaptive scanning procedure based on the robot motion circumstances at every time.