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A Framework for Optimal Navigation in Situations of Localization Uncertainty.
Charifou Orou Mousse1, Mohamed Benrabah1, François Marmoiton1
1Université Clermont Auvergne, Centre National de Recherche Scientifique, Clermont Auvergne INP, Institut Pascal UMR6602, F-63000 Clermont-Ferrand, France.
Sensors (Basel, Switzerland)
|August 26, 2023
Summary
This study presents a new framework for autonomous vehicles to independently manage path following and obstacle avoidance, even with localization uncertainties. This ensures safer navigation by preventing position errors from impacting obstacle detection and avoidance maneuvers.
Area of Science:
- Robotics
- Autonomous Systems
- Navigation
Background:
- Autonomous vehicles rely on path following and obstacle avoidance for navigation.
- Localization uncertainty significantly impacts these functions, often necessitating a complete stop for safety.
- Existing methods struggle to maintain performance under uncertain localization conditions.
Purpose of the Study:
- To develop a framework that optimally combines path following and obstacle avoidance.
- To ensure these two critical functions remain independent despite localization uncertainties.
- To enable robust navigation for mobile robots even with inaccurate positioning.
Main Methods:
- Proposed a novel framework for autonomous vehicle navigation.
- Implemented independent path following and obstacle avoidance modules.
- Tested the framework on an EZ10 shuttle in the PAVIN experimental platform.
Main Results:
- The proposed framework successfully combines path following and obstacle avoidance.
- Localization uncertainty only affected path following, not obstacle avoidance.
- Obstacle avoidance was performed effectively in the robot's local reference frame, independent of absolute position accuracy.
Conclusions:
- The developed approach ensures collision-free navigation for mobile robots.
- It is a promising solution for autonomous systems operating with inaccurate localization.
- The independence of obstacle avoidance from localization uncertainty enhances navigation safety and reliability.
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