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 proceedingConference contributionAcademicpeer-review

6 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 languageEnglish
Title of host publication2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages4177-4183
Number of pages7
ISBN (Electronic)978-1-4799-6934-0
DOIs
Publication statusPublished - 2014
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2014 - Palmer House Hilton Hotel, Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Abbreviated titleIROS 2014
Country/TerritoryUnited States
CityChicago
Period14/09/1418/09/14

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