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A framework for safe assisted navigation of semi-autonomous vehicles among moving and steady obstacles

Published online by Cambridge University Press:  22 January 2016

Andrey V. Savkin  and
Chao Wang
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
Chao Wang*
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
*
*Corresponding author. E-mail: z3184703@zmail.unsw.edu.au.
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Summary

We present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of collision with obstacle. A mathematically rigorous analysis of the proposed approach is provided. The performance of the proposed assisted navigation system is demonstrated via experiments with a real semi-autonomous hospital bed and extensive computer simulations.

Keywords

Assisted navigationSemi-autonomous vehiclesMoving obstaclesCollision avoidanceReactive navigationRobot navigationmobile robotsMobile robotic hospital bed
Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017 , pp. 981 - 1005
Copyright
Copyright © Cambridge University Press 2016 

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