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/CongresprocedureConferentiebijdrageAcademicpeer review

6 Citaten (Scopus)
2 Downloads (Pure)

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-2Engels
Titel2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 14-18 September 2014, Chicago, Ill., USA
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's4177-4183
Aantal pagina's7
ISBN van elektronische versie978-1-4799-6934-0
DOI's
StatusGepubliceerd - 2014
EvenementIEEE/RSJ International Conference on Intelligent Robots and Systems 2014 - Palmer House Hilton Hotel, Chicago, Verenigde Staten van Amerika
Duur: 14 sep 201418 sep 2014

Congres

CongresIEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Verkorte titelIROS 2014
Land/RegioVerenigde Staten van Amerika
StadChicago
Periode14/09/1418/09/14
AnderIEEE/RSJ International Conference on Intelligent Robots and Systems

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