| Abstract
|
<p>This paper presents work on senso … <p>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. © 2006 IEEE.</p>isk versus detours. © 2006 IEEE.</p>
|
| Author
|
Roland Philippsen +
, Björn Jensen +
, Roland Siegwart +
|
| Conference
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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 9-15 October 2006, Category number CH37780
|
| DOI
|
http://dx.doi.org/10.1109/IROS.2006.282136 +
|
| Diva
|
http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:576979
|
| EndPage
|
2881 +
|
| HostPublication
|
IROS 2006 : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems +
|
| PublicationType
|
Conference Paper +
|
| Publisher
|
IEEE Press +
|
| StartPage
|
2876 +
|
| Title
|
Toward Online Probabilistic Path Replanning in Dynamic Environments +
|
| Year
|
2006 +
|
| Has queryThis property is a special property in this wiki.
|
Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
, Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments +
|
| Categories |
Publication +
|
| Modification dateThis property is a special property in this wiki.
|
30 September 2016 20:42:17 +
|
