Modeling Motion Uncertainty of Moving Obstacles for Robot Motion Planning
نویسندگان
چکیده
This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of motion uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. The model is represented by a probabilistic distribution over possible position on a path of a moving obstacle. Using this model, the best robot motion is selected which minimizes the expected time of reaching the destination. By considering not the range but the distribution of the uncertainty, more e cient behaviors of the robot are realized.
منابع مشابه
Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning
This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. The uncertainty model represents the position of an obstacle at a certain time point by a probabilistic distribution over possible...
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