Volume 22 Issue 10/11- Publication Date: 1 October 2003
Safe Navigation for Indoor Mobile Robots. Part I: A Sensor-Based
Navigation Framework
Alessandro Corrêa Victorino, Patrick Rives and Jean-Jacques Borrelly Institut National de Recherche en, Informatique et en Automatique, INRIA-Sophia Antipolis (ICARE), 2004 Route des Lucioles, BP 93, 06902 Sophia Antipolis Cedex, France

In this paper we present the first part, part 1 of two, of a complete exploration and navigation methodology that enables a robot to safely navigate in an unknown environment. Reactive sensor-based navigation tasks and control laws are derived from the interaction between the robot and its workspace. The perception is performed by a two-dimensional laser range-finder mounted on the robot. Reactive navigation tasks are defined based on the task function framework in such a way that the robot can explore an unknown indoor environment without any reference trajectory computation. Obstacle avoidance is ensured as a straight property implicit to the definition of the navigation tasks. The stability and robustness of the derived control laws with respect to the model errors are analyzed. The experimental results validate the proposed methodology.

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