论文标题
使用安全速度锥在未知环境中导航
Navigation in Unknown Environments Using Safety Velocity Cones
论文作者
论文摘要
我们依靠Nagumo的不变性定理来开发一种新的方法，以在未知维度的未知环境中进行导航。这个想法在于在机器人接近自由空间的边界时，将标称速度（在没有障碍物的情况下将机器人推向目标）（将机器人推向目标）（称为安全速度锥）。提出的基于投影的控制器是明确构建的，以确保安全和收敛到包含目标的一组Lebesgue测量量。对于特定的自由空间，例如欧几里得球体世界，从自由空间中的几乎所有初始条件都可以保证与目标的收敛性。我们提供了一个依赖机器人当前位置和本地范围测量值（例如，从激光雷达或立体声愿景）的情况下提供控制器的版本（生成连续且分段平滑的闭环矢量字段），而没有全局的先验知识。
We rely on Nagumo's invariance theorem to develop a new approach for navigation in unknown environments of arbitrary dimension. The idea consists in projecting the nominal velocities (that would drive the robot to the target in the absence of obstacles) onto Bouligand's tangent cones (referred to as the safety velocity cones) when the robot is close to the boundary of the free space. The proposed projection-based controller is explicitly constructed to guarantee safety and convergence to a set of Lebesgue measure zero that contains the target. For specific free spaces such as Euclidean sphere worlds, the convergence to the target is guaranteed from almost all initial conditions in the free space. We provide a version of the controller (generating a continuous and piecewise smooth closed-loop vector field) relying on the robot's current position and local range measurements (e.g., from LiDAR or stereo vision) without global prior knowledge about the environment.
