A robust qualitative planner for mobile robot navigation using human-provided maps

摘要

A novel method for controlling a mobile robot using qualitative inputs in the context of an approximate map, such as one sketched by a human, is presented. By defining a desired trajectory with respect to observable landmarks, human operators can send semi-autonomous robots into areas for which a truth map is not available. Waypoint planning is formulated as a quadratic optimization problem, resulting in robot trajectories in the true environment that are qualitatively similar to those provided by the human. The algorithm is implemented both in simulation and on a mobile robot platform in several different environments. A sensitivity analysis is per formed, illustrating how the method is robust to uncertainties, even large sketch distortions, and allows the robot to adapt and re-plan according to its most current perception of the world.