Publications:Toward Online Probabilistic Path Replanning in Dynamic Environments
From ISLAB/CAISR
| Title | Toward Online Probabilistic Path Replanning in Dynamic Environments |
|---|---|
| Author | Roland Philippsen and Björn Jensen and Roland Siegwart |
| Year | 2006 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | IROS 2006 : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Conference | 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 url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:576979 |
| Abstract | 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. |
