A set-based approach for a collision-free navigation of mobile robots

This paper presents a set-based solution for robust and safe localization and guidance of mobile robots. Amulti-fusion approach for unknown, but bounded (UBB) system variables forms the core of the proposed concept. Based on this approach the set-based determination of the robot pose and the goal-oriented and collision-free guidance using the dynamic window principle aremerged into an integrated and consistent navigation concept for environments with dynamic obstacles. Experimental results in a planar office environment show the performance of the proposed concept.