Sensor-based, time-critical mobility of autonomous robots in cluttered spaces: a harmonic potential approach

TL;DR

This paper presents an integrated, sensor-based navigation system for autonomous robots that enables direct, time-critical movement in cluttered environments without prior mapping, using harmonic potential fields for safe and efficient path planning.

Contribution

The paper introduces a novel navigation approach that combines harmonic potential fields with local sensory data for immediate, goal-oriented robot movement in unknown cluttered spaces.

Findings

Robust, direct navigation in cluttered environments without prior mapping.

The trajectory is well-behaved and minimally detoured.

Validated through extensive experiments on the X80 robotic platform.

Abstract

This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the first attempt without the need for a dedicated exploration and mapping stage. The robot only uses necessary and sufficient egocentric local sensory data collected on its way to the target. The construction of the navigation structure revolves around key properties of the harmonic potential field approach to motion planning. The robots trajectory is well-behaved and direct-to-the-goal. It contains only the minimum number of detours necessary to accommodate the sensory data and maintain the robot in a safe, goal-oriented state. The navigation structure is developed and its theoretical basis is explained. Extensive experimental validation of its properties and performance is carried-out using the X80 robotic platform