Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning

被引：0

作者：

Miura, Jun ^{[1
]}

Shirai, Yoshiaki ^{[1
]}

机构：

[1] Dept of Computer-Controlled Mechanical Systems, Osaka University, Suita, Osaka,565-0871, Japan

来源：

Journal of Robotics and Mechatronics | 2002年 / 14卷 / 04期

关键词：

Motion planning - Probability distributions - Robot programming - Uncertainty analysis;

D O I：

10.20965/jrm.2002.p0349

中图分类号：

学科分类号：

摘要：

This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. In the uncertainty model, the position of an obstacle at a certain time point is represented by a probabilistic distribution over possible positions on each possible path of the moving obstacle. Using this model, the best robot motion is selected in a decision-theoretic way. By considering the distribution, not the range, of uncertainty, more efficient behavior of the robot is realized. © 2002, Fuji Technology Press. All rights reserved.

引用

页码：349 / 356