000127703 001__ 127703
000127703 005__ 20240731103413.0
000127703 0247_ $$2doi$$a10.3390/app13158925
000127703 0248_ $$2sideral$$a134757
000127703 037__ $$aART-2023-134757
000127703 041__ $$aeng
000127703 100__ $$aMartinez-Baselga, Diego$$uUniversidad de Zaragoza
000127703 245__ $$aLong-range navigation in complex and dynamic environments with Full-Stack S-DOVS
000127703 260__ $$c2023
000127703 5060_ $$aAccess copy available to the general public$$fUnrestricted
000127703 5203_ $$aRobotic autonomous navigation in dynamic environments is a complex problem, as traditional planners may fail to take dynamic obstacles and their variables into account. The Strategy-based Dynamic Object Velocity Space (S-DOVS) planner has been proposed as a solution to navigate in such scenarios. However, it has a number of limitations, such as inability to reach a goal in a large known map, avoid convex objects, or handle trap situations. In this article, we present a modified version of the S-DOVS planner that is integrated into a full navigation stack, which includes a localization system, obstacle tracker, and novel waypoint generator. The complete system takes into account robot kinodynamic constraints and is capable of navigating through large scenarios with known map information in the presence of dynamic obstacles. Extensive simulation and ground robot experiments demonstrate the effectiveness of our system even in environments with dynamic obstacles and replanning requirements, and show that our waypoint generator outperforms other approaches in terms of success rate and time to reach the goal when combined with the S-DOVS planner. Overall, our work represents a step forward in the development of robust and reliable autonomous navigation systems for real-world scenarios.
000127703 536__ $$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/PID2019-105390RB-I00
000127703 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000127703 590__ $$a2.5$$b2023
000127703 592__ $$a0.508$$b2023
000127703 591__ $$aENGINEERING, MULTIDISCIPLINARY$$b44 / 179 = 0.246$$c2023$$dQ1$$eT1
000127703 593__ $$aFluid Flow and Transfer Processes$$c2023$$dQ2
000127703 591__ $$aPHYSICS, APPLIED$$b87 / 179 = 0.486$$c2023$$dQ2$$eT2
000127703 593__ $$aMaterials Science (miscellaneous)$$c2023$$dQ2
000127703 591__ $$aCHEMISTRY, MULTIDISCIPLINARY$$b114 / 230 = 0.496$$c2023$$dQ2$$eT2
000127703 593__ $$aEngineering (miscellaneous)$$c2023$$dQ2
000127703 591__ $$aMATERIALS SCIENCE, MULTIDISCIPLINARY$$b257 / 438 = 0.587$$c2023$$dQ3$$eT2
000127703 593__ $$aInstrumentation$$c2023$$dQ2
000127703 593__ $$aProcess Chemistry and Technology$$c2023$$dQ3
000127703 593__ $$aComputer Science Applications$$c2023$$dQ3
000127703 594__ $$a5.3$$b2023
000127703 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000127703 700__ $$0(orcid)0000-0002-6722-5541$$aRiazuelo, Luis$$uUniversidad de Zaragoza
000127703 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, Luis$$uUniversidad de Zaragoza
000127703 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000127703 773__ $$g13, 15 (2023), 8925 [15 pp.]$$pAppl. sci.$$tApplied Sciences (Switzerland)$$x2076-3417
000127703 8564_ $$s5793686$$uhttps://zaguan.unizar.es/record/127703/files/texto_completo.pdf$$yVersión publicada
000127703 8564_ $$s2690944$$uhttps://zaguan.unizar.es/record/127703/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000127703 909CO $$ooai:zaguan.unizar.es:127703$$particulos$$pdriver
000127703 951__ $$a2024-07-31-10:05:30
000127703 980__ $$aARTICLE