A representation method based on the probability of collision for safe robot navigation in domestic environments

S.A.M. Coenen; J.J.M. Lunenburg; M.J.G. van de Molengraft; M. Steinbuch

doi:10.1109/IROS.2014.6943151

A representation method based on the probability of collision for safe robot navigation in domestic environments

S.A.M. Coenen, J.J.M. Lunenburg, M.J.G. van de Molengraft, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

2 Downloads (Pure)

Abstract

This paper introduces a three-dimensional volumetric representation for safe navigation. It is based on the OctoMap representation framework that probabilistically fuses sensor measurements to represent the occupancy probability of volumes. To achieve safe navigation in a domestic environment this representation is extended with a model of the occupancy probability if no sensor measurements are received, and a proactive approach to deal with unpredictably moving obstacles that can arise from behind occlusions by always expecting obstacles to appear on the robot's path. By combining the occupancy probability of volumes with the position uncertainty of the robot, a probability of collision is obtained. It is shown that by relating this probability to a safe velocity limit a robot in a real domestic environment can move close to a certain maximum velocity but decides to attain a slower safe velocity limit when it must, analogous to velocity limits and warning signs in traffic.

Original language	English
Title of host publication	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	4177-4183
Number of pages	7
ISBN (Electronic)	978-1-4799-6934-0
DOIs	https://doi.org/10.1109/IROS.2014.6943151
Publication status	Published - 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Palmer House Hilton Hotel, Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Abbreviated title	IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14

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10.1109/IROS.2014.6943151

Cite this

Coenen, S. A. M., Lunenburg, J. J. M., van de Molengraft, M. J. G., & Steinbuch, M. (2014). A representation method based on the probability of collision for safe robot navigation in domestic environments. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA (pp. 4177-4183). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2014.6943151

Coenen, S.A.M. ; Lunenburg, J.J.M. ; van de Molengraft, M.J.G. et al. / A representation method based on the probability of collision for safe robot navigation in domestic environments. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA. Piscataway : Institute of Electrical and Electronics Engineers, 2014. pp. 4177-4183

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title = "A representation method based on the probability of collision for safe robot navigation in domestic environments",

abstract = "This paper introduces a three-dimensional volumetric representation for safe navigation. It is based on the OctoMap representation framework that probabilistically fuses sensor measurements to represent the occupancy probability of volumes. To achieve safe navigation in a domestic environment this representation is extended with a model of the occupancy probability if no sensor measurements are received, and a proactive approach to deal with unpredictably moving obstacles that can arise from behind occlusions by always expecting obstacles to appear on the robot's path. By combining the occupancy probability of volumes with the position uncertainty of the robot, a probability of collision is obtained. It is shown that by relating this probability to a safe velocity limit a robot in a real domestic environment can move close to a certain maximum velocity but decides to attain a slower safe velocity limit when it must, analogous to velocity limits and warning signs in traffic.",

author = "S.A.M. Coenen and J.J.M. Lunenburg and {van de Molengraft}, M.J.G. and M. Steinbuch",

year = "2014",

doi = "10.1109/IROS.2014.6943151",

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booktitle = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA",

publisher = "Institute of Electrical and Electronics Engineers",

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note = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

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Coenen, SAM, Lunenburg, JJM, van de Molengraft, MJG & Steinbuch, M 2014, A representation method based on the probability of collision for safe robot navigation in domestic environments. in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA. Institute of Electrical and Electronics Engineers, Piscataway, pp. 4177-4183, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, Illinois, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943151

A representation method based on the probability of collision for safe robot navigation in domestic environments. / Coenen, S.A.M.; Lunenburg, J.J.M.; van de Molengraft, M.J.G. et al.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA. Piscataway: Institute of Electrical and Electronics Engineers, 2014. p. 4177-4183.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - This paper introduces a three-dimensional volumetric representation for safe navigation. It is based on the OctoMap representation framework that probabilistically fuses sensor measurements to represent the occupancy probability of volumes. To achieve safe navigation in a domestic environment this representation is extended with a model of the occupancy probability if no sensor measurements are received, and a proactive approach to deal with unpredictably moving obstacles that can arise from behind occlusions by always expecting obstacles to appear on the robot's path. By combining the occupancy probability of volumes with the position uncertainty of the robot, a probability of collision is obtained. It is shown that by relating this probability to a safe velocity limit a robot in a real domestic environment can move close to a certain maximum velocity but decides to attain a slower safe velocity limit when it must, analogous to velocity limits and warning signs in traffic.

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Coenen SAM, Lunenburg JJM, van de Molengraft MJG , Steinbuch M. A representation method based on the probability of collision for safe robot navigation in domestic environments. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA. Piscataway: Institute of Electrical and Electronics Engineers. 2014. p. 4177-4183 doi: 10.1109/IROS.2014.6943151

A representation method based on the probability of collision for safe robot navigation in domestic environments

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