Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments
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| Title | Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments |
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| Author | |
| Year | 2007 |
| PublicationType | Book Chapter |
| Journal | |
| HostPublication | Autonomous Navigation in Dynamic Environments |
| Conference | |
| DOI | http://dx.doi.org/10.1007/978-3-540-73422-2_7 |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:577000 |
| Abstract | This paper presents work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and probabilistic motion modeling are combined with a smooth navigation function to perform on-line path planning and replanning in cluttered dynamic environments such as public exhibitions. The SLIP algorithm, an extension of Iterative Closest Point, combines motion detection from a mobile platform with position estimation. This information is then processed using probabilistic motion prediction to yield a co-occurrence risk that unifies dynamic and static elements. The risk is translated into traversal costs for an E* path planner. It produces smooth paths that trade off collision risk versus detours. © Springer. |
