Mobile robot safety navigation based on time to contact
Hao Da-pen · Journal of Computer Applications · 2014
Navigation exists potential safety hazard when autonomous mobile robot moves in dynamic uncertain environments. In order to improve the navigation safety, a representation method of navigation environments using time of contact was proposed, namely time of contact space. As risk index in navigation environments, the time of contact between two points of an arbitrary was computed by using linear velocity and rotation velocity, and the configuration space was mapped into time of contact space when robot moved in the navigation environment. The time of contact space was applied to classic behavior dynamic navigation method. Compared with the classical behavior dynamics method and behavior dynamics adding velocity obstacles, the simulation results prove that the time of contact space can guarantee safety navigation of autonomous mobile robot.