Scholarlink

We propose a flexible hierarchical navigation stack for a mobile robot in complex dynamic environments. Addressing the growing need for reliable navigation in real-world scenarios, where dynamic agents and environmental uncertainties pose significant challenges, our solution decomposes this complexity into task planning, navigation, control, and safe velocity components. In contrast to the prior art, our system at every level incorporates diverse contextual information about the environment, anticipates navigation risks and proactively avoids collisions with dynamic agents.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

DARKO-Nav: Hierarchical Risk and Context-Aware Robot Navigation in Complex Intralogistic Environments

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Elena Stracca,
  • Andrey Rudenko,
  • Luigi Palmieri,
  • Paolo Salaris,
  • Luca Castri,
  • Nicolò Mazzi,
  • Vasilije Rakcevic,
  • Narunas Vaskevicius,
  • Timm Linder,
  • Nicola Bellotto,
  • Tim Schreiter,
  • Yufei Zhu,
  • Manuel Castellano Quero,
  • Olga Napolitano,
  • Elisa Stefanini,
  • Lukas Heuer,
  • Martin Magnusson,
  • Abdalla Swikir,
  • Achim J. Lilienthal

摘要

We propose a flexible hierarchical navigation stack for a mobile robot in complex dynamic environments. Addressing the growing need for reliable navigation in real-world scenarios, where dynamic agents and environmental uncertainties pose significant challenges, our solution decomposes this complexity into task planning, navigation, control, and safe velocity components. In contrast to the prior art, our system at every level incorporates diverse contextual information about the environment, anticipates navigation risks and proactively avoids collisions with dynamic agents.