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2006
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Toward Online Probabilistic Path Replanning in Dynamic Environments

9 years 5 months ago
Toward Online Probabilistic Path Replanning in Dynamic Environments
— This paper presents work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and modeling are combined with a smooth navigation function to perform on-line path planning in cluttered dynamic environments. The SLIP algorithm, an extension of Iterative Closest Point, combines motion detection from a mobile platform with position estimation. This information is used via probabilistic prediction to estimate a traversal risk function that unifies dynamic and static obstacles. The risk is fed to E∗ and leads to smooth paths that trade off collision risk versus detours.
Roland Philippsen, Björn Jensen, Roland Siegw
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Roland Philippsen, Björn Jensen, Roland Siegwart
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