Sensor-based reactive navigation in unknown convex sphere worlds

Abstract

We construct a sensor-based feedback law that provably solves the real-time collision-free robot navigation problem in a compact convex Euclidean subset cluttered with unknown but sufficiently separated and strongly convex obstacles. Our algorithm introduces a novel use of separating hyperplanes for identifying the robot’s local obstacle-free convex neighborhood, affording a reactive (online-computed) continuous and piecewise smooth closed-loop vector field whose smooth flow brings almost all configurations in the robot’s free space to a designated goal location, with the guarantee of no collisions along the way. Specialized attention to planar navigable environments yields a necessary and sufficient condition on convex obstacles for almost-global navigation towards any goal location in the environment. We further extend these provable properties of the planar setting to practically motivated limited range, isotropic and anisotropic sensing models, and the non-holonomically constrained kinematics of the standard differential-drive vehicle. We conclude with numerical and experimental evidence demonstrating the effectiveness of the proposed sensory feedback motion planner.