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Probabilistic motion planning among moving obstacles following typical motion patterns.
Abstract : The paper presents a navigation algorithm for dynamic, uncertain environment. The static environment is unknown, while moving pedestrians are detected and tracked on-line. Pedestrians are supposed to move along typical motion patterns represented by HMMs. The planning algorithm is based on an extension of the Rapidly-exploring Random Tree algorithm, where the likelihood of the obstacles future trajectory and the probability of collision is explicitly taken into account. The algorithm is used in a partial motion planner, and the probability of collision is updated in real-time according to the most recent estimation. Results show the performance for a car-like robot in a simulated environment among multiple dynamic obstacles.
Cited literature [21 references]
https://hal.inria.fr/inria-00398059
Contributor : Chiara Fulgenzi <>
Submitted on : Wednesday, June 24, 2009 - 11:06:44 AM
Last modification on : Thursday, November 19, 2020 - 1:00:27 PM
Long-term archiving on: : Tuesday, June 15, 2010 - 6:33:47 PM
Contributor : Chiara Fulgenzi <>
Submitted on : Wednesday, June 24, 2009 - 11:06:44 AM
Last modification on : Thursday, November 19, 2020 - 1:00:27 PM
Long-term archiving on: : Tuesday, June 15, 2010 - 6:33:47 PM
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