NAVIGATION WITH UNCERTAINTY I Reaching a Goal in a High Collision Risk Region

Abstract

We present a probabilistic method for noisy sensor based robotic navigation in dynamic en vironments The method generates an optimal trajectory by considering as optimality criteria the probability of not colliding with the obstacles and the probability of accessing an operational position with respect to a moving target object Estimates of the obstacle s kinematic parameters and measures of con dence in these estimates are used to produce the probability of collision associated with any robot displacement The probability of collision is derived in two steps a stochastic model is de ned in the kinematic state space of the obstacles and collision events are given simple geometric characterizations in this state space The support of the Defense Advanced Research Projects Agency ARPA Order No and the U S Army Engineer Topographic Laboratories under Contract DACA C is gratefully acknowledged as is the help of Sandy German in preparing this paper

Cite this paper

@inproceedings{Burlina1991NAVIGATIONWU, title={NAVIGATION WITH UNCERTAINTY I Reaching a Goal in a High Collision Risk Region}, author={Philippe Burlina and Daniel DeMenthon and Larry S. Davis}, year={1991} }