Authors: Daniel Althoff James J Kuffner Dirk Wollherr Martin Buss
Publish Date: 2011/11/19
Volume: 32, Issue: 3, Pages: 285-302
Abstract
This paper presents a probabilistic framework for reasoning about the safety of robot trajectories in dynamic and uncertain environments with imperfect information about the future motion of surrounding objects For safety assessment the overall collision probability is used to rank candidate trajectories by considering the probability of colliding with known objects as well as the estimated collision probability beyond the planning horizon In addition we introduce a safety assessment cost metric the probabilistic collision cost which considers the relative speeds and masses of multiple moving objects in which the robot may possibly collide with The collision probabilities with other objects are estimated by probabilistic reasoning about their future motion trajectories as well as the ability of the robot to avoid them The results are integrated into a navigation framework that generates and selects trajectories that strive to maximize safety while minimizing the time to reach a goal location An example implementation of the proposed framework is applied to simulation scenarios that explores some of the inherent computational tradeoffs
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