Dynamic Obstacle Avoidance in uncertain environment combining PVOs and Occupancy Grid

Chiara Fulgenzi 1 Anne Spalanzani 1 Christian Laugier 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : Most of present work for autonomous navigation in dynamic environment doesn't take into account the dynamics of the obstacles or the limits of the perception system. To face these problems we applied the Probabilistic Velocity Obstacle (PVO) approach to a dynamic occupancy grid. The paper presents a method to estimate the probability of collision where uncertainty in position, shape and velocity of the obstacles, occlusions and limited sensor range contribute directly to the computation. A simple navigation algorithm is then presented in order to apply the method to collision avoidance and goal driven control. Simulation results show that the robot is able to adapt its behaviour to the level of available knowledge and navigate safely among obstacles with a constant linear velocity. Extensions to non-linear, non-constant velocities are proposed.
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Chiara Fulgenzi, Anne Spalanzani, Christian Laugier. Dynamic Obstacle Avoidance in uncertain environment combining PVOs and Occupancy Grid. Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2007, Rome, France. ⟨inria-00181443⟩

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