Title :
The navigation of autonomous vehicles in uncertain dynamic environments: a case study
Author :
Jun, Myungsoo ; Chaudhry, Atif I. ; D´Andrea, Raffaello
Author_Institution :
Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA
Abstract :
This paper proposes a method for building with multiple vehicles a probability map of uncertain dynamic environments. It is assumed that each vehicle has a limited sensor range and therefore lacks global information. The vehicles share their measurement information to build a probability map. The probability map is updated using sensor information and a priori statistics of the dynamic environment.
Keywords :
Poisson distribution; navigation; path planning; probability; uncertainty handling; vehicles; autonomous vehicles; global information; measurement information; multiple vehicles; path planning; priori statistics; probability map building; sensor information; uncertain dynamic environments; Aerodynamics; Computer aided software engineering; Mobile robots; Navigation; Probability; Remotely operated vehicles; Sensor phenomena and characterization; Statistics; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184951
