Title:
Path Planning with Uncertainty: Voronoi Uncertainty Fields
Path Planning with Uncertainty: Voronoi Uncertainty Fields
| dc.contributor.author | Ok, Kyel | |
| dc.contributor.author | Ansari, Sameer | |
| dc.contributor.author | Gallagher, Billy | |
| dc.contributor.author | Sica, William | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2013-07-17T19:00:49Z | |
| dc.date.available | 2013-07-17T19:00:49Z | |
| dc.date.issued | 2013-05 | |
| dc.description | © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description | Presented at the 2013 IEEE International Conference on Robotics and Automation (ICRA), 6-10 May 2013, Karlsruhe, Germany. | |
| dc.description.abstract | In this paper, a two-level path planning algorithm that deals with map uncertainty is proposed. The higher level planner uses modified generalized Voronoi diagrams to guarantee finding a connected path from the start to the goal if a collision-free path exists. The lower level planner considers uncertainty of the observed obstacles in the environment and assigns repulsive forces based on their distance to the robot and their positional uncertainty. The attractive forces from the Voronoi nodes and the repulsive forces from the uncertainty- biased potential fields form a hybrid planner we call Voronoi Uncertainty Fields (VUF). The proposed planner has two strong properties: (1) bias against uncertain obstacles, and (2) completeness. We analytically prove the properties and run simulations to validate our method in a forest-like environment. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Ok, K; Ansari, S.; Gallagher, W.; Sica, W.; Dellaert, F. & Stilman, M. (2013). "Path Planning with Uncertainty: Voronoi Uncertainty Fields". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), 6-10 May 2013. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/48437 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Collision avoidance | en_US |
| dc.subject | Motion and path planning | en_US |
| dc.subject | SLAM | en_US |
| dc.title | Path Planning with Uncertainty: Voronoi Uncertainty Fields | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
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