Title :
Independent Markov chain occupancy grid maps for representation of dynamic environment
Author :
Saarinen, Jari ; Andreasson, Henrik ; Lilienthal, Achim J.
Author_Institution :
Dept. of Autom. & Syst. Technol., Aalto Univ., Aalto, Finland
Abstract :
In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online and modeled as two Poisson processes. As a result, our representation not only encodes the expected occupancy of the cell, but also models the expected dynamics within the cell. The paper also presents a strategy based on recency weighting to learn the model parameters from observations that is able to deal with non-stationary cell dynamics. Moreover, an interpretation of the model parameters with discussion about the convergence rates of the cells is presented. The proposed model is experimentally validated using offline data recorded with a Laser Guided Vehicle (LGV) system running in production use.
Keywords :
Markov processes; automatic guided vehicles; mobile robots; position control; LGV system; Poisson processes; dynamic environment; grid cell; iMac; independent Markov chain occupancy grid maps; laser guided vehicle system; mobile robot; recency weighting; state transition parameters; Convergence; Laser modes; Markov processes; Turning; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385629