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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

7 Citaten (Scopus)

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Samenvatting

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.

Originele taal-2	Engels
Titel	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA
Plaats van productie	Piscataway
Uitgeverij	Institute of Electrical and Electronics Engineers
Pagina's	4177-4183
Aantal pagina's	7
ISBN van elektronische versie	978-1-4799-6934-0
DOI's	https://doi.org/10.1109/IROS.2014.6943151
Status	Gepubliceerd - 2014
Evenement	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Palmer House Hilton Hotel, Chicago, Verenigde Staten van Amerika Duur: 14 sep. 2014 → 18 sep. 2014

Congres

Congres	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Verkorte titel	IROS 2014
Land/Regio	Verenigde Staten van Amerika
Stad	Chicago
Periode	14/09/14 → 18/09/14
Ander	IEEE/RSJ International Conference on Intelligent Robots and Systems

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10.1109/IROS.2014.6943151

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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 (blz. 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. blz. 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",

language = "English",

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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, blz. 4177-4183, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, Illinois, Verenigde Staten van Amerika, 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. blz. 4177-4183.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › 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. blz. 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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