hh.sePublikasjoner
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments
LAAS-CNRS, Toulouse, France.ORCID-id: 0000-0003-3513-8854
Singleton Technology, Lausanne, Switzerland.
Autonomous Systems Lab, EPFL, Switzerland.
2007 (engelsk)Inngår i: Autonomous Navigation in Dynamic Environments / [ed] Christian Laugier and Raja Chatila, New York: Springer-Verlag New York, 2007, s. 135-148Kapittel i bok, del av antologi (Fagfellevurdert)
Abstract [en]

This paper presents work on sensor-based motion planning in initially unknown dynamic environments. Motion detection and probabilistic motion modeling are combined with a smooth navigation function to perform on-line path planning and replanning in cluttered dynamic environments such as public exhibitions. The SLIP algorithm, an extension of Iterative Closest Point, combines motion detection from a mobile platform with position estimation. This information is then processed using probabilistic motion prediction to yield a co-occurrence risk that unifies dynamic and static elements. The risk is translated into traversal costs for an E* path planner. It produces smooth paths that trade off collision risk versus detours. © Springer.

sted, utgiver, år, opplag, sider
New York: Springer-Verlag New York, 2007. s. 135-148
Serie
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 35
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20124DOI: 10.1007/978-3-540-73422-2_7ISBN: 978-3-540-73421-5 OAI: oai:DiVA.org:hh-20124DiVA, id: diva2:577000
Merknad

ScopusID: 2-s2.0-35348825549

Tilgjengelig fra: 2012-12-14 Laget: 2012-12-14 Sist oppdatert: 2018-01-12bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Forlagets fulltekst

Personposter BETA

Philippsen, Roland

Søk i DiVA

Av forfatter/redaktør
Philippsen, Roland

Søk utenfor DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 101 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf