Probabilistic motion planning among moving obstacles following typical motion patterns

— 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.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Chiara Fulgenzi, Anne Spalanzani, Christian Laugier
• Keywords: Algorithm, IROS 2009, Navigation Algorithm, Random Tree Algorithm, Robotics