移动机器人实时避障的决策理论方法

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583825

Huosheng Hu, M. Brady, P. P. Smith

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引用次数: 7

摘要

研究了一个类似汽车的移动机器人如何在遵循全局路径规划器规划的最优路径时处理意外的静态障碍物。为了找到问题的最优解，将避障问题表述为一种决策理论方法。我们所寻求的最优决策规则是在审慎操作和备选方案之间进行权衡，使贝叶斯风险最小化。强调实时实现是为了为现实世界的应用程序提供一个框架。

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A decision theoretic approach to real-time obstacle avoidance for a mobile robot

Investigates how a car-like mobile robot handles unexpected static obstacles while following an optimal path planned by the global path planner. To find an optimal solution of the problem, the obstacle avoidance problem is formulated as a decision theoretic approach. The optimal decision rule we seek is to minimize the Bayes risk by trading off between deliberative maneuver and the alternatives. Real-time implementation is emphasized in order to provide a framework for real-world applications.

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来源期刊

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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