Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation

— This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information within a real sensor-based navigation system. The contribution in the modeling aspect is a formulation of the Detection and Tracking of Mobile Objects and the Simultaneous Localization and Map Building in such a way that the nature (static/dynamic) of the observations is included in the estimation process. This is achieved by a set of filters tracking the moving objects and a map of the static structure constructed on line. In addition, this paper discusses how this modeling module is integrated in a real sensor-based navigation system taking advantage selectively of the dynamic and static information. The experimental results confirm that the complete navigation system is able to move a vehicle in unknown and dynamic scenarios. Furthermore, the system overcomes many of the limitations of previous systems associated to the ability to distinguish the nature of the part...

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Luis Montesano, Javier Minguez, Luis Montano
• Keywords: Dynamic Parts, ICRA 2005, Real Sensor-based Navigation, Robotics, Sensor-based Navigation System