TY - GEN
T1 - Motion planning in dynamic uncertain environment using probability navigation function
AU - Hacohen, Shlomi
AU - Shoval, Shraga
AU - Shvalb, Nir
N1 - Publisher Copyright:
© Copyright 2015 IEEE All rights reserved.
PY - 2014
Y1 - 2014
N2 - This paper introduces a novel motion planning algorithm for stochastic dynamic scenarios. We extend Rimon and Koditechek's concept of a navigation function to such scenarios. Such a function can be used when considering spherical and start-shaped geometries for the robot, obstacles and work space. Our main idea is to take into account both the probabilities and the geometries of the objects acting in the work space by formulating a probability density function ptot that encloses both. We consider of ptot as a metric between the robot and the obstacles, minimizing it in the course of the motion. Additionally, we define a safe probability value for collision δ. By analytically investigating ptot defined in Rn we find a convenient approximation for a safe distance pδ in the sense of that metric. Lastly, we present some experiments applying our algorithm in various scenarios.
AB - This paper introduces a novel motion planning algorithm for stochastic dynamic scenarios. We extend Rimon and Koditechek's concept of a navigation function to such scenarios. Such a function can be used when considering spherical and start-shaped geometries for the robot, obstacles and work space. Our main idea is to take into account both the probabilities and the geometries of the objects acting in the work space by formulating a probability density function ptot that encloses both. We consider of ptot as a metric between the robot and the obstacles, minimizing it in the course of the motion. Additionally, we define a safe probability value for collision δ. By analytically investigating ptot defined in Rn we find a convenient approximation for a safe distance pδ in the sense of that metric. Lastly, we present some experiments applying our algorithm in various scenarios.
UR - http://www.scopus.com/inward/record.url?scp=84941254873&partnerID=8YFLogxK
U2 - 10.1109/EEEI.2014.7005766
DO - 10.1109/EEEI.2014.7005766
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AN - SCOPUS:84941254873
T3 - 2014 IEEE 28th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014
BT - 2014 IEEE 28th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 28th IEEE Convention of Electrical and Electronics Engineers in Israel, IEEEI 2014
Y2 - 3 December 2014 through 5 December 2014
ER -