動的環境における確率的衝突制約を用いた動作計画
Probabilistic Collision Constraint for Motion Planning in Dynamic Environments
ロボットと障害物の状態不確かさを考慮し、衝突確率の厳密な上界を動作計画の制約として定式化することで、動的環境でのリアルタイム衝突回避を実現した研究。
著者: Antony Thomas, Fulvio Mastrogiovanni, Marco Baglietto
分類: cs.RO
原文アブストラクト
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an approach for collision avoidance in dynamic environments, incorporating robot and obstacle state uncertainties. We derive a tight upper bound for collision probability between robot and obstacle and formulate it as a motion planning constraint which is solvable in real time. The proposed approach is tested in simulation considering mobile robots as well as quadrotors to demonstrate that successful collision avoidance is achieved in real time application. We also provide a comparison of our approach with several state-of-the-art methods.
