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Steps Towards Safe Navigation in Open and Dynamic Environments

  • Christian Laugier
  • Stéphane Petti
  • Dizan Vasquez
  • Manuel Yguel
  • Thierry Fraichard
  • Olivier Aycard
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 35)

Abstract

Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art. Bassically, these problems can be classified into three main categories: SLAM in dynamic environments; Detection, characterization, and behavior prediction of the potential moving obstacles; On-line motion planning and safe navigation decision based on world state predictions. This paper addresses some aspects of these problems and presents our latest approaches and results. The solutions we have implemented are mainly based on the followings paradigms: Characterization and motion prediction of the observed moving entities using bayesian programming; On-line goal-oriented navigation decisions using the Partial Motion Planning (PMP) paradigm.

Keywords

Hide Markov Model Mobile Robot Motion Planning Dynamic Environment Motion Prediction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Christian Laugier
    • 1
  • Stéphane Petti
    • 1
  • Dizan Vasquez
    • 1
  • Manuel Yguel
    • 1
  • Thierry Fraichard
    • 1
  • Olivier Aycard
    • 1
  1. 1.INRIA Rhöne-Alpes & GRAVIR Lab. (CNRS, INPG, UJF) 

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