HAL Id: hal-01979373
https://hal.laas.fr/hal-01979373
Submitted on 12 Jan 2019
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Global nearness diagram navigation (GND)
Javier Minguez, Luis Montano, Thierry Simeon, Rachid Alami
To cite this version:
Javier Minguez, Luis Montano, Thierry Simeon, Rachid Alami. Global nearness diagram navigation (GND). Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation, Apr 2001, Seoul, South Korea. �hal-01979373�
EVOLUTION IN TIME HYBRID SYSTEMS REACTIVE SCHEMAS NAVIGATION SYSTEMS ES EB VFH VFH* VFH+ CVM ND GND SAFA PFM GDWA DWA PFM METHODS MODEL-BASED
X SECURITY DISTANCE MOTION DIRECTION GOAL x GOAL PASSAGE UNKNOWN FREE OBSTACLE ND SOLUTION SECURITY ZONE ROBOT x GOAL PASSAGE HUMAN PASSAGE OPENED x GOAL PATH ND SOLUTION PASSAGE CLOSED x GOAL PATH ND SOLUTION
ODOMETRY (ri,ϑi) (x,y,ϑ) (x,y,ϑ) NF1 ROBOT MAPPING (xg,yg) GND SENSOR INFORMATION (xi,yi) GRID (v,w) LASER ND NAVIGATION GOAL (xg,yg) OK OK ND OK NF1 INST. DIRECTION FAIL FAIL (0,w) NF1 OK mpND mND
0 1 2 3 4 5 6 1 2 3 4 5 6 7 SNAPSHOT 1 SNAPSHOT 2 SNAPSHOT 3 SNAPSHOT 4 GOAL X 0 1 2 3 4 5 6 7 2 3 4 5 6 7 8 9 SNAPSHOT 1 SNAPSHOT 2 SNAPSHOT 3 SNAPSHOT 4 GOAL X
