Safety assessment of trajectories for navigation in uncertain and dynamic environments

Daniel Althoff, Dirk Wollherr, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

25 Scopus citations

Abstract

This paper presents a probabilistic threat assessment method for reasoning about the safety of robot trajectories in uncertain and dynamic environments. For safety evaluation, the overall collision probability is used to rank candidate trajectories by considering the collision probability of known objects as well as the collision probability beyond the planning horizon. Monte Carlo sampling is used to estimate the collision probabilities. This concept is applied to a navigation framework that generates and selects trajectories in order to reach the goal location while minimizing the collision probability. Simulation scenarios are used to validate the overall crash probability and show its necessity in the proposed navigation approach.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5407-5412
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/TerritoryChina
CityShanghai
Period9/05/1113/05/11

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