Safety Hierarchy for Planning With Time Constraints in Unknown Dynamic Environments

Abstract

We present a planning algorithm for a mobile robot in unknown indoor dynamic environments. The algorithm takes into account the robot's own dynamics and the dynamic obstacles' future behavior in a safety hierarchy. It also uses an appropriate time horizon for planning and respects the timing constraints on various modules of the planner that are imposed by… (More)
DOI: 10.1109/TRO.2014.2354933

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