Risk-Aware Navigation for Mobile Robots in Unknown 3D Environments
Abstract
Autonomous navigation in unknown 3D environ-
ments is a key issue for intelligent transportation, while still
being an open problem. Conventionally, navigation risk has
been focused on mitigating collisions with obstacles, neglecting
the varying degrees of harm that collisions can cause. In this
context, we propose a new risk-aware navigation framework,
whose purpose is to directly handle interactions with the
environment, including those involving minor collisions. We
introduce a physically interpretable risk function that quantifies
the maximum potential energy that the robot wheels absorb
as a result of a collision. By considering this physical risk in
navigation, our approach significantly broadens the spectrum of
situations that the robot can undertake, such as speed bumps or
small road curbs. Using this framework, we are able to plan safe
trajectories that not only ensure safety but also actively address
the risks arising from interactions with the environment.
Domains
Robotics [cs.RO]
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