by Dizan Vasquez, Dizan Vasquez, Frédéric Large, Frédéric Large, Thierry Fraichard, Thierry Fraichard, Christian Laugier, Inria Rhône-alpes
in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS
http://emotion.inrialpes.fr/~vasquez/files/main.pdf
Add To MetaCart
Abstract:
Abstract — Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in realtime to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless, existing iterative methods do not provide a way to estimate the future behaviour of moving obstacles and use the resulting estimates in trajectory computation. This paper presents an iterative planning approach that addresses these two issues. It consists of two complementary methods: 1) a motion prediction method which learns typical behaviours of objects in a given environment. 2) an iterative motion planning technique based on the concept of Velocity Obstacles. Acknowledgements — This work has been partially supported by a Conacyt scolarship. We also want to thank the support of the CNRS Robea ParkNav, the Lafmi NavDyn and the european Cybercars projects. The autors would like to thank Prof. Zvi Shiller for his contribution to this work.
Citations
|
676
|
Finding Groups in Data, an Introduction to Cluster Analysis
– Kaufman, Rousseeuw, et al.
- 1990
|
|
544
|
Data clustering: a review
– Jain, Murty, et al.
- 1999
|
|
118
|
On multiple moving objects
– Erdmann, Lozano-Perez
- 1987
|
|
96
|
Randomized Kinodynamic Motion Planning with Moving Obstacles
– Hsu, Kindel, et al.
- 2002
|
|
60
|
Real-time motion planning for agile autonomous vehicles
– Frazzoli, Dahleh, et al.
- 2002
|
|
51
|
VFH+: Reliable obstacle avoidance for fast mobile robots
– Ulrich, Borenstein
- 1998
|
|
27
|
Learning motion patterns of persons for mobile service robots
– Bennewitz, Burgard, et al.
- 2002
|
|
22
|
Trajectory planning in dynamic workspace: a ‘statetime space’ approach
– Fraichard
- 1999
|
|
17
|
The lane-curvature method for local obstacle avoidance
– Ko, Simmons
- 1998
|
|
12
|
Motion planning in dynamic environments: Obstacles moving along arbitrary trajectories
– Shiller, Large, et al.
- 2001
|
|
10
|
Time-minimal paths among moving obstacles
– Fujimura, Samet
- 1989
|
|
10
|
Acquisition of statistical motion patterns in dynamic environments and their application to mobile robot motion planning
– Kruse, Gusche, et al.
- 1997
|
|
7
|
Towards real-time global motion planning in a dynamic environment using the NLVO concept
– Large, Sekhavat, et al.
- 2002
|
|
4
|
Navigation Autonome D’un Robot Mobile En Environment Dynamique et Incertain
– Large
- 2003
|
|
2
|
Développement de la plate-forme expérimentale parkview pour la reconstruction de l’environnement dynamique,” mémoire de fin d’études, Conservatoire Nat. des Arts et Métiers, Grenoble (FR
– Helin
- 2003
|
