Establishing Collision-Zones Under Uncertainty

N. Kehtarnavaz; N. Griswold

doi:10.1117/12.969870

1 March 1990 Establishing Collision-Zones Under Uncertainty

N. Kehtarnavaz, N. Griswold

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969870
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

This paper presents a methodology to include obstacles moving with uncertainty in path planning algorithms. Around each moving obstacle, a collision-zone is defined indicating a high collision likelihood space. These zones are treated as stationary obstacles providing the input to a path planning algorithm. Samples of moving obstacles' positions are assumed to be available. Three models of motion for moving obstacles are considered: 1) obstacles moving randomly, 2) obstacles whose motion is structured but consists of random parameters, 3) obstacles whose motion is predictable as a function of time. Simulation examples yielding collision-zones are presented.

Citation Download Citation

N. Kehtarnavaz and N. Griswold "Establishing Collision-Zones Under Uncertainty", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969870

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