Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning
Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning
复制标题
用于移动机器人运动规划的障碍物运动的分布式感知和预测
DOI：
10.1109/iros.2006.282359
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
T. Kröger
中科院分区：
文献类型：
--
作者：
Thorsten Rennekamp;K. Homeier;T. Kröger
本文介绍了一种动态环境下移动的机器人运动规划的体系结构及其基本组成部分。机器人对人典型运动模式的适应性行为是机器人在拥挤环境中被接受的必要条件。这种适应是通过一个全球性的分布式传感系统来检测障碍物运动和模型运动行为。本文主要研究障碍物运动行为的检测、建模和预测。该模型由动态贝叶斯网络组成。网络的拓扑结构是一个几何图形
This work recommends an architecture and its fundamental components for motion planning for mobile robots in dynamic environments. An adaptive behavior to typical motion patterns of people is essential for robots to be accepted in crowded environments. This adaptation is achieved by a global and distributed sensing system to detect obstacle motions and model motion behavior. This article focuses on the detection, the modeling and the prediction of obstacle motion behavior. The model consists of a dynamic Bayesian network. The topology of the network is a geometric graph
DOI：
10.1109/34.868684
发表时间：
2000-08-01
影响因子：
23.6
作者：
Oliver, NM;Rosario, B;Pentland, AP
通讯作者：
Pentland, AP