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Mobile Robot Planning in Dynamic Environments and on Growable Costmaps
Stanford University, California, USA.ORCID-id: 0000-0003-3513-8854
Swiss Federal Institute of Technology Zürich, Switzerland.
Swiss Federal Institute of Technology Zürich, Switzerland.
Singleton Technology, Lausanne, Switzerland.
2008 (engelsk)Inngår i: Workshop on Path Planning on Costmaps: A half day workshop for ICRA 2008, 2008, s. 8-Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present two applications of path planning oncostmaps: (i) the Probabilistic Navigation Function uses a smoothlyvarying co-occurrence estimation to trade-off collision risk versusdetour lengths, and (ii) a navigation system for exploration ofunknown environment using growable costmaps, interweaving mapping,replanning, and control.By relying on costmaps as a general basis for planning and pathtracking as a generic motion control interface, our approach andimplementation covers a wide range of planners and controllers. Weachieve a relatively general purpose system and introduce a limitedamount of well-defined user-definable heuristics that allow users toadapt the system to a given application. System integration andgenericity is demonstrated by providing three specific implementationsof the planner and controller components, all working withinthe same framework.

sted, utgiver, år, opplag, sider
2008. s. 8-
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20127OAI: oai:DiVA.org:hh-20127DiVA, id: diva2:577006
Konferanse
2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA
Merknad

Organizers:

Wes Huang Applied Perception, Inc.   

Dave Ferguson Intel Research Pittsburgh

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

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