Modeling dynamic scenarios for local sensor-based motion planning

This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information with a sensor-based motion planning system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static structure in such a way that the nature (static/dynamic) of the observations is included in the estimation process. The algorithm provides a set of filters tracking the moving objects and a local map of the static structure constructed on line. In addition, this paper discusses how this modeling module is integrated in a real sensor-based motion planning 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 parts of ...

• Type: Journal
• Year: 2008
• Where: AROBOTS
• Authors: Luis Montesano, Javier Minguez, Luis Montano
• Keywords: AROBOTS 2008, Real Sensor-based Motion, Sensor-based Motion, Static Structure