Publications:Mobile Robot Planning in Dynamic Environments and on Growable Costmaps
From ISLAB/CAISR
| Title | Mobile Robot Planning in Dynamic Environments and on Growable Costmaps |
|---|---|
| Author | Roland Philippsen and Sascha Kolski and Kristijan Macek and Björn Jensen |
| Year | 2008 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | Workshop on Path Planning on Costmaps : A half day workshop for ICRA 2008 |
| Conference | 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA |
| DOI | |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:577006 |
| Abstract | We present two applications of path planning oncostmaps: (i) the Probabilistic Navigation Function uses a smoothlyvarying co-occurrence estimation to trade-off collision risk versusdetour lengths, and (ii) a navigation system for exploration ofunknown environment using growable costmaps, interweaving mapping,replanning, and control.By relying on costmaps as a general basis for planning and pathtracking as a generic motion control interface, our approach andimplementation covers a wide range of planners and controllers. Weachieve a relatively general purpose system and introduce a limitedamount of well-defined user-definable heuristics that allow users toadapt the system to a given application. System integration andgenericity is demonstrated by providing three specific implementationsof the planner and controller components, all working withinthe same framework. |
