Path planning under localization uncertainty

Path planning under localization uncertainty

Yang GaoHao Xu Mengqi Hu Jiang Liu Jiahao Liu 

School of Automobile, Chang'An University, Xi'an 710064, China

Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA

Corresponding Author Email: 
nchygy@126.com
Page: 
435-448
|
DOI: 
https://doi.org/10.3166/JESA.50.435-448
| | | | Citation

OPEN ACCESS

Abstract: 

This paper attempts to disclose the impact of localization uncertainty on path planning, a key function of mobile robot. Firstly, the localization uncertainty was analyzed in details, revealing that the uncertainty can be represented by the half length of the possible distribution area of the X-Y coordinates or the orientation variance. After that, the impact of uncertainty on path planning was evaluated in light of the path planning safety and performance. Then, two evaluation functions were put forward to evaluate the impact of uncertainty on path planning. Through simulation and experiment, the proposed functions were proved feasible and valid. The research findings shed new light on path planning under localization uncertainty.

Keywords: 

Path planning, localization, map matching, mobile robot

1. Introduction
2. Impact of localization uncertainty on path planning
3. Evaluation functions for the impact of localization uncertainty
4. Simulation verification
5. Experimental verification
6. Conclusions
Ackowledgement

This work was supported by the National Natural Science Fund [grant number 61503043]; Natural Science Foundation of Shaanxi Provincial [grant number 2015JQ6214, 2017JM7016]; Foundation of Central University [grant number 310822172204].

  References

Censi A. (2007). On achievable accuracy for range-finder localization. in Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 4170-4175. https://doi.org/10.1109/ROBOT.2007.364120

Egerstedt M., Hu X., Stotsky A. (2001). Control of mobile platforms using a virtual vehicle approach. IEEE Transactions on Automatic Control, Vol. 46, No. 11, pp. 1777-1782. https://doi.org/10.1109/9.964690

Gonzalez J. P., Stentz A. (2007). Planning with uncertainty in position using high-resolution maps. in Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 1015-1022. http://dx.doi.org/10.1109/ROBOT.2007.363118

Hu C., Chen W., Wang J., Wang H. (2016). Optimal path planning for mobile manipulator based on manipulability and localizability. in 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 638-643. https://doi.org/10.1109/RCAR.2016.7784104

Lankenau A., Rofer T. (2002). Mobile robot self-localization in large-scale environments. IEEE International Conference on Robotics & Automation IEEE. https://doi.org/10.1109/ROBOT.2002.1014732

Murtra A. C., Mirats-Tur J. M., Sanfeliu A. (2008). Action evaluation for mobile robot global localization in cooperative environments. Robotics & Autonomous Systems, Vol. 56, No. 10, pp. 807-818. https://doi.org/10.1016/j.robot.2008.06.009

Qian K., Ma X., Fang F., Dai X., Zhou B. (2016). Mobile robot self-localization in unstructured environments based on observation localizability estimation with low-cost laser range-finder and RGB-D sensors. International Journal of Advanced Robotic Systems, Vol. 13, No. 5, pp. 1-11. https://doi.org/10.1177/1729881416670902

Roy N., Burgard W., Fox D., Thrun S. (1999). Coastal navigation-mobile robot navigation with uncertainty in dynamic environments. in Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), Vol. 1, pp. 35-40. https://doi.org/10.1109/ROBOT.1999.769927

Wang Y., Chen W., Wang J., Wang H. (2015). Active global localization based on localizability for mobile robots. Robotica, Vol. 33, No. 8, pp. 1609-1627. https://doi.org/10.1017/s0263574714000940

Yang Z., Wu C., Zhou Z., Zhang X., Wang X., Liu Y. (2015). Mobility increases localizability: A survey on wireless indoor localization using inertial sensors. ACM Comput. Surv., Vol. 47, No. 3, pp. 1-34. https://doi.org/10.1145/2676430

Zhao X. J., Li X., Tan T. (2000). A novel landmark tree based self-localization and path-planning method for an intelligent wheelchair. IEEE International Workshop on Robot & Human Interactive Communication IEEE. https://doi.org/10.1109/ROMAN.2000.892475

Zhou J. H., Lin H. Y. (2011). A self-localization and path planning technique for mobile robot navigation. Intelligent Control & Automation IEEE. https://doi.org/10.1109/WCICA.2011.5970604