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IROS
2009
IEEE

Probabilistic motion planning among moving obstacles following typical motion patterns

12 years 2 days ago
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.
Chiara Fulgenzi, Anne Spalanzani, Christian Laugie
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Chiara Fulgenzi, Anne Spalanzani, Christian Laugier
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