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JRM Vol.14 No.4 pp. 349-356
doi: 10.20965/jrm.2002.p0349
(2002)

Paper:

Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning

Jun Miura and Yoshiaki Shirai

Dept. of Computer-Controlled Mechanical Systems, Osaka University, Suita, Osaka, 565-0871 Japan

Received:
April 11, 2002
Accepted:
June 17, 2002
Published:
August 20, 2002
Keywords:
uncertainty model of obstacle motion, probabilistic uncertainty modeling, robot motion planning, mobile robot, decision-theoretic planning
Abstract

This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. In the uncertainty model, the position of an obstacle at a certain time point is represented by a probabilistic distribution over possible positions on each possible path of the moving obstacle. Using this model, the best robot motion is selected in a decision-theoretic way. By considering the distribution, not the range, of uncertainty, more efficient behavior of the robot is realized.

Cite this article as:
Jun Miura and Yoshiaki Shirai, “Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning,” J. Robot. Mechatron., Vol.14, No.4, pp. 349-356, 2002.
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