Publication
Anticipative kinodynamic planning: Multi-objective robot navigation in urban and dynamic environments
Journal Article (2019)
Journal
Autonomous Robots
Pages
1473-1488
Volume
43
Doc link
https://doi.org/10.1007/s10514-018-9806-6
File
Abstract
This paper presents the anticipative kinodynamic planning (AKP) approach for robot navigation in urban environments, while satisfying both dynamic and nonholonomic constraints. Our main motivation is to minimize the impact that the robot is doing to the environment, i.e. other pedestrians, while successfully achieving a navigation goal. To this end, we require a better understanding of the environment, and thus, we propose to integrate seamlessly a human motion prediction algorithm into the planning algorithm. In addition, we are able to anticipate for each of the robot's calculated paths or actions the corresponding people's future trajectories, which is essential to reduce the impact to nearby pedestrians. Multi-objective cost functions are proposed and we describe a well-posed procedure to build joint cost functions. Plenty of simulations and real experiments have been carried out to demonstrate the success of the AKP, compared to other navigation approaches.
Categories
automation.
Author keywords
Robot navigation; Motion prediction; Dynamic environments
Scientific reference
G. Ferrer and A. Sanfeliu. Anticipative kinodynamic planning: Multi-objective robot navigation in urban and dynamic environments. Autonomous Robots, 43: 1473-1488, 2019.
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