| 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 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<sup>*</sup> path planner. It produces smooth paths that trade off collision risk versus detours. © Springer.</p>risk versus detours. © Springer.</p>
|
| Author
|
Roland Philippsen +
, Björn Jensen +
, Roland Siegwart +
|
| DOI
|
http://dx.doi.org/10.1007/978-3-540-73422-2_7 +
|
| Diva
|
http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:577000
|
| EndPage
|
148 +
|
| HostPublication
|
Autonomous Navigation in Dynamic Environments +
|
| PublicationType
|
Book Chapter +
|
| Publisher
|
Springer-Verlag New York +
|
| Series
|
Springer Tracts in Advanced Robotics ; 35 +
|
| StartPage
|
135 +
|
| Title
|
Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
|
| Year
|
2007 +
|
| Has queryThis property is a special property in this wiki.
|
Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
, Publications:Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments +
|
| Categories |
Publication +
|
| Modification dateThis property is a special property in this wiki.
|
30 September 2016 20:39:16 +
|
