Title :
Planning under uncertainty
Author :
Basu, Anup ; Elnagar, Ashraf
Author_Institution :
Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
Abstract :
An approach to addressing the problem of local path planning given acceleration constraints is presented. The concept of safety is introduced to design a planning strategy. A path which maximizes the product of safety based on local information, and attraction towards the goal, is chosen. The safety function depends on the acceleration bounds. The attraction towards the goal depends on the distance from the goal. The safety optimizing path planning technique resembles real life behavior.<>
Keywords :
mobile robots; path planning; safety; acceleration constraints; autonomous vehicles; local information; local path planning; mobile robots; safety optimizing path planning; Acceleration; Intelligent robots; Machine intelligence; Mobile robots; Path planning; Product safety; Remotely operated vehicles; Roads; Uncertainty; Vehicle safety;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240360
