Publication

Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments

Roland Siegwart, Björn Jensen, Roland Philippsen
2007
Book Chapters

Abstract

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* path planner. It produces smooth paths that trade off collision risk versus detours.

Official source

https://infoscience.epfl.ch/entities/publication/5e074f83-3c7e-4fcc-b610-cdcc3b195179

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Roland Siegwart, Björn Jensen, Roland Philippsen
2007
Book Chapters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/5e074f83-3c7e-4fcc-b610-cdcc3b195179

About this result

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