A probabilistic approach to path planning with object boundary uncertainties

Author

Horiuchi, Eiichi ; Tani, Kazuo

Author_Institution

Robotics Dept., Mech. Eng. Lab., Ibaraki, Japan

fYear

1991

fDate

19-22 June 1991

Firstpage

1698

Abstract

In the presence of geometric uncertainties, collision avoidance of the robots in close proximity to or in contact with the obstacles in the environment is discussed from the probabilistic point of view. A hierarchical representation for geometric uncertainties is proposed; spatial uncertainties are described by occupation probability. An algorithm which generates robot trajectories by calculating collision probability between the robot and the obstacles is presented to show the applicability of the proposed framework to path planning.<>

Keywords

mobile robots; path planning; probability; trees (mathematics); collision avoidance; collision probability; geometric uncertainties; hierarchical representation; mobile robots; motion planning; object boundary uncertainties; occupation probability; path planning; probabilistic approach; robot trajectories; spatial uncertainties; Collision avoidance; Electrical capacitance tomography; Mechanical engineering; Mobile robots; Motion detection; Motion planning; Orbital robotics; Path planning; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICAR.1991.240362

Filename

240362