Proceedings of the 1993 IEEE / RSJ International Conference on Intelligent Robots and Systems Yokohama , Japan July 2630 . 1993 A Decision Theoretic Approach to Real - time Obstacle Avoidance for a Mobile Robot
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چکیده
r . This paper investigates how a car-like mobile robot handles unexpected static obstacles while following a n optimal path planned by the global path planner. 'Ib find an optimal solution of the problem, the obstacle avoidance problem is formulated as a decision theoretic approach. The optimal decision rule we seek is to minimize the Bayes risk by trading off between deliberative man ver and the alternatives. Real-time implementation is emphasTed here to provide a framework for real-world applications. T
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