Abstract
SUMMARYWe present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of collision with obstacle. A mathematically rigorous analysis of the proposed approach is provided. The performance of the proposed assisted navigation system is demonstrated via experiments with a real semi-autonomous hospital bed and extensive computer simulations.
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