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Proceedings Paper

Establishing Collision-Zones Under Uncertainty
Author(s): N. Kehtarnavaz; N. Griswold
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Paper Abstract

This paper presents a methodology to include obstacles moving with uncertainty in path planning algorithms. Around each moving obstacle, a collision-zone is defined indicating a high collision likelihood space. These zones are treated as stationary obstacles providing the input to a path planning algorithm. Samples of moving obstacles' positions are assumed to be available. Three models of motion for moving obstacles are considered: 1) obstacles moving randomly, 2) obstacles whose motion is structured but consists of random parameters, 3) obstacles whose motion is predictable as a function of time. Simulation examples yielding collision-zones are presented.

Paper Details

Date Published: 1 March 1990
PDF: 11 pages
Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969870
Show Author Affiliations
N. Kehtarnavaz, Texas A&M University (United States)
N. Griswold, Texas A&M University (United States)

Published in SPIE Proceedings Vol. 1195:
Mobile Robots IV
Wendell H. Chun; William J. Wolfe, Editor(s)

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