Probabilistic motion planning among moving obstacles following typical motion patterns. - Inria - Institut national de recherche en sciences et technologies du numérique
Conference Papers Year : 2009

Probabilistic motion planning among moving obstacles following typical motion patterns.

Abstract

The paper presents a navigation algorithm for dynamic, uncertain environment. The static environment is unknown, while moving pedestrians are detected and tracked on-line. Pedestrians are supposed to move along typical motion patterns represented by HMMs. The planning algorithm is based on an extension of the Rapidly-exploring Random Tree algorithm, where the likelihood of the obstacles future trajectory and the probability of collision is explicitly taken into account. The algorithm is used in a partial motion planner, and the probability of collision is updated in real-time according to the most recent estimation. Results show the performance for a car-like robot in a simulated environment among multiple dynamic obstacles.
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Dates and versions

inria-00398059 , version 1 (24-06-2009)

Identifiers

  • HAL Id : inria-00398059 , version 1

Cite

Chiara Fulgenzi, Anne Spalanzani, Christian Laugier. Probabilistic motion planning among moving obstacles following typical motion patterns.. IEEE/RSJ International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, Missouri, United States. ⟨inria-00398059⟩
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