Reactive navigation in partially familiar planar environments using semantic perceptual feedback
Abstract
This article solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in simultaneous localization and mapping (SLAM) and visual object recognition to recast prior geometric knowledge in terms of an offline catalog of familiar objects. The resulting vector field planner guarantees convergence to an arbitrarily specified goal, avoiding collisions along the way with fixed but arbitrarily placed instances from the catalog as well as completely unknown fixed obstacles so long as they are strongly convex and well separated. We illustrate the generic robustness properties of such deterministic reactive planners as well as the relatively modest computational cost of this algorithm by supplementing an extensive numerical study with physical implementation on both a wheeled and legged platform in different settings.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Oct 22, 2021
- Source ID
- 10.1177/02783649211048931
Entities
People
- Daniel E. Koditschek
- Georgios Pavlakos
- Karl Schmeckpeper
- Kostas Daniilidis
- Vasileios Vasilopoulos
Organizations
- Air Force Research Laboratory
- Office of Naval Research
- University of California, Berkeley
- University of Pennsylvania