Navigation with uncertainty: reaching a goal in a high collision risk region
نویسندگان
چکیده
We present a probabilistic method for noisy sensor based robotic navigation in dynamic environments. The method generates an optimal trajectory by considering as optimality criteria the probability of not colliding with the obstacles and the probability of accessing an operational position with respect to a moving target object. Estimates of the obstacle's kinematic parameters and measures of conndence in these estimates are used to produce the probability of collision associated with any robot displacement. The probability of collision is derived in two steps: a stochastic model is deened in the kinematic state space of the obstacles, and collision events are given simple geometric characterizations in this state space.
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NAVIGATION WITH UNCERTAINTY I Reaching a Goal in a High Collision Risk Region
We present a probabilistic method for noisy sensor based robotic navigation in dynamic en vironments The method generates an optimal trajectory by considering as optimality criteria the probability of not colliding with the obstacles and the probability of accessing an operational position with respect to a moving target object Estimates of the obstacle s kinematic parameters and measures of co...
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