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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, 2002Accepted:June 17, 2002Published: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:J. Miura and Y. Shirai, “Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning,” J. Robot. Mechatron., Vol.14 No.4, pp. 349-356, 2002.Data files:
Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
