Fast Obstacle Avoidance Based on Real-Time Sensing
Humans excel at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance which is adept at partial and poor sensing. We address the issue of enabling obstacle avoidance ba...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers
2024
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| Online Access: | https://hdl.handle.net/1721.1/154987 |
| _version_ | 1811092725286567936 |
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| author | Huber, Lukas Slotine, Jean-Jacques Billard, Aude |
| author_facet | Huber, Lukas Slotine, Jean-Jacques Billard, Aude |
| author_sort | Huber, Lukas |
| collection | MIT |
| description | Humans excel at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance which is adept at partial and poor sensing. We address the issue of enabling obstacle avoidance based on sparse and asynchronous perception. The proposed control scheme combines a high-level input command provided by either a planner or a human operator with fast reactive obstacle avoidance (FOA). The sampling-based sensor data can be combined with an analytical reconstruction of the obstacles for real-time collision avoidance. Thus, we can ensure that the agent does not become stuck when a feasible path exists between obstacles. Our algorithm was evaluated experimentally on static laser data from cluttered, indoor office environments. Additionally, it was used in shared-control mode in a dynamic and complex outdoor environment in the center of Lausanne. The proposed control scheme successfully avoided collisions in both scenarios. During the experiments, the controller took 1 ms to evaluate over 30000 data points. |
| first_indexed | 2024-09-23T15:23:26Z |
| format | Article |
| id | mit-1721.1/154987 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T15:23:26Z |
| publishDate | 2024 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/1549872024-09-17T04:34:44Z Fast Obstacle Avoidance Based on Real-Time Sensing Huber, Lukas Slotine, Jean-Jacques Billard, Aude Humans excel at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance which is adept at partial and poor sensing. We address the issue of enabling obstacle avoidance based on sparse and asynchronous perception. The proposed control scheme combines a high-level input command provided by either a planner or a human operator with fast reactive obstacle avoidance (FOA). The sampling-based sensor data can be combined with an analytical reconstruction of the obstacles for real-time collision avoidance. Thus, we can ensure that the agent does not become stuck when a feasible path exists between obstacles. Our algorithm was evaluated experimentally on static laser data from cluttered, indoor office environments. Additionally, it was used in shared-control mode in a dynamic and complex outdoor environment in the center of Lausanne. The proposed control scheme successfully avoided collisions in both scenarios. During the experiments, the controller took 1 ms to evaluate over 30000 data points. 2024-05-16T19:31:05Z 2024-05-16T19:31:05Z 2023-03 2024-05-16T19:26:33Z Article http://purl.org/eprint/type/JournalArticle 2377-3766 2377-3774 https://hdl.handle.net/1721.1/154987 L. Huber, J. -J. Slotine and A. Billard, "Fast Obstacle Avoidance Based on Real-Time Sensing," in IEEE Robotics and Automation Letters, vol. 8, no. 3, pp. 1375-1382, March 2023, doi: 10.1109/LRA.2022.3232271. en 10.1109/lra.2022.3232271 IEEE Robotics and Automation Letters Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf Institute of Electrical and Electronics Engineers Institute of Electrical and Electronics Engineers |
| spellingShingle | Huber, Lukas Slotine, Jean-Jacques Billard, Aude Fast Obstacle Avoidance Based on Real-Time Sensing |
| title | Fast Obstacle Avoidance Based on Real-Time Sensing |
| title_full | Fast Obstacle Avoidance Based on Real-Time Sensing |
| title_fullStr | Fast Obstacle Avoidance Based on Real-Time Sensing |
| title_full_unstemmed | Fast Obstacle Avoidance Based on Real-Time Sensing |
| title_short | Fast Obstacle Avoidance Based on Real-Time Sensing |
| title_sort | fast obstacle avoidance based on real time sensing |
| url | https://hdl.handle.net/1721.1/154987 |
| work_keys_str_mv | AT huberlukas fastobstacleavoidancebasedonrealtimesensing AT slotinejeanjacques fastobstacleavoidancebasedonrealtimesensing AT billardaude fastobstacleavoidancebasedonrealtimesensing |