Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns

Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns

This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment, including dynamic obstacles with uncertain motion patterns. The key contribution of the work is the integration of a...

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Bibliographic Details
Main Authors: Luders, Brandon D., Aoude, Georges S., Joseph, Joshua M., Roy, Nicholas, How, Jonathan P.
Format: Technical Report
Published: 2011
Subjects:
probabilistic path planning
intention prediction
gaussian processes
uncertainty in predictability
collision avoidance
dynamic obstacles
probabilistic constraint satisfaction
sampling-based reachability
Online Access:http://hdl.handle.net/1721.1/64738

Internet

http://hdl.handle.net/1721.1/64738

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