Title :
A stochastic algorithm for obstacle motion prediction in visual guidance of robot motion
Abstract :
The algorithm presented is based on a hidden Markov model description of the motions of obstacles and uses probabilistic evaluation for the selection of collision-free trajectories in the visual guidance of mobile robot motion. The algorithm is reliable in terms of catching the nature of obstacle motions in a dynamic environment. The computation time is modest, as the simulation results show
Keywords :
Markov processes; computer vision; mobile robots; position control; collision-free trajectories; hidden Markov model; obstacle motion prediction; probabilistic evaluation; robot motion; stochastic algorithm; visual guidance;
Conference_Titel :
Systems Engineering, 1990., IEEE International Conference on
Conference_Location :
Pittsburgh, PA, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1990.203136
