Abstract
This chapter addresses autonomous navigation in populated and dynamic environments. Unlike static or controlled environments where global path planning approaches are suitable, dealing with highly dynamic and uncertain environments requires to address simultaneously many difficult issues: the detection and tracking of the moving obstacles, the prediction of the future state of the world, and the online motion planning and navigation. In the last few years, the problem of incomplete, uncertain, and changing information in the navigation problem domain has gained even more interest in the robotic community and probabilistic frameworks aiming to integrate and elaborate properly such information have been developed. This chapter is divided into three sections: First section introduces the main challenge of this approach. Section 2 focuses on navigation using prediction of the near future and Sect. 3 discusses on integrating human in the navigation decision scheme.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Aoude GS, Luders BD, Levine DS, How JP (2010) Threat-aware path planning in uncertain urban environments. In: Proceedings of the 2010 IEEE/RSJ international conference on intelligent robots and systems, Taipei, 2010
Bennewitz M, Burgard W (2003) Adapting navigation strategies using motion patterns of people. In: Proceedings of the IEEE international conference on robotics and automation, Taipei, pp 2000–2005. IEEE
Bennewitz M, Burgard W, Cielniak G, Thrun S (2005) Learning motion patterns of people for compliant robot motion. Int J Robot Res 24(1):31–48
Chung SY, Huang HP (2010) A mobile robot that understands pedestrian spatial behaviors. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, pp 5861–5866
Ciolek M, Kendon A (1980) Environment and the spatial arrangement of conversational encounters. Sociol Inq 50:237–271
Elfes A (1989) Using occupancy grids for moble robot perception and navigation. Computer, vol 22, pp 4657
Fulgenzi C (2009) Autonomous navigation in dynamic uncertain environment using probabilistic models of perception and collision risk prediction. PhD thesis, Institut National Polytechnique de Grenoble – INPG. http://tel.archives-ouvertes.fr/tel-00398055/en/
Fulgenzi C, Tay C, Spalanzani A, Laugier C (2008) Probabilistic navigation in dynamic environment using rapidly-exploring random trees and gaussian processes. In: IEEE/RSJ 2008 international conference on intelligent robots and systems, France Nice, 2008. http://hal.inria.fr/inria-00332595/en/
Fulgenzi C, Spalanzani A, Laugier C (2009) Probabilistic motion planning among moving obstacles following typical motion patterns. In: IEEE/RSJ international conference on intelligent robots and systems, St. Louis, Missouri États-Unis d’Amérique, 2009. http://hal.inria.fr/inria-00398059/en/
Gockley R, Forlizzi J, Simmons R (2007) Natural person following behavior for social robots. Proceeding of HRI07, 2007
Hall ET (1966) The hidden dimension: man’s use of space in public and private. The Bodley Head, London
Hansen ST, Svenstrup M, Andersen HJ, Bak T (2009) Adaptive human aware navigation based on motion pattern analysis. In: The 18th IEEE international symposium on robot and human interactive communication, Toyama, 2009
Junejo I, Javed O, Shah M (2004) Multi feature path modeling for video surveillance. In: Proceedings of the 17th international conference on pattern recognition, Cambridge, UK. August 2004. vol 2. pp 716–719
Kendon A (2010) Spacing and orientation in co-present interaction. In: Development of multimodal interfaces: active listening and synchrony. Lecture notes in computer science, vol 5967. Springer, Berlin/Heidelberg, pp 1–15
Kirby R, Simmons R, Forlizzi J (2009) Companion: a constraint-optimizing method for person acceptable navigation. In: The 18th IEEE international symposium on robot and human interactive communication, Toyama, Japan, 2009
Laga H, Amaoka T (2009) Modeling the spatial behavior of virtual agents in groups for non-verbal communication in virtual worlds. In: IUCS ’09, Tokyo, Japan, 2009
LaValle S, Kuffner JJ Jr (2007) Randomized kinodynamic planning. Int J Robot Res 26:997–1024
LaValle SM, Sharma R (1997) On motion planning in changing, partially-predictable environments. Int J Robot Res 16:775–805
Makris D, Ellis T (2001) Finding paths in video sequences abstract. In: British machine vision conference, Manchester, 2001, pp 263–272
Meng Keat Christopher T (2009) Analysis of dynamic scenes: application to driving assistance. PhD in computer science, Institut National Polytechnique de Grenoble (INPG)
Petti S, Fraichard T (2005) Safe motion planning in dynamic environments. In: Proceedings of the 2005 IEEE/RSJ international conference on intelligent robots and systems, Alberta, Canada, 2005
Rios-Martinez J, Spalanzani A, Laugier C (2011) Probabilistic autonomous navigation using rist-rrt approach and models of human interaction. In: Proceedings of the 2011 IEEE/RSJ international conference on intelligent robots and systems, San Francisco, USA, 2011
Sisbot EA, Marin-Urias LF, Alami R, Simeon T (2007) A human aware mobile robot motion planner. IEEE Trans Robot 23(5):874–883
Tay C, Laugier C (2007) Modelling paths using gaussian processes. In: Proceedings of the international conference on field and service robotics, Chamonix, 2007. http://emotion.inrialpes.fr/bibemotion/2007/TL07
Trung-Dung Vu, Olivier Aycard NA (2007) Online localization and map** with moving object tracking in dynamic outdoor environments. In: IEEE intelligent vehicles symposium, Istanbul, 2007
Vasquez Govea DA (2007) Incremental Learning for Motion Prediction of Pedestrians and Vehicles. PhD thesis, Institut National Polytechnique de Grenoble, Grenoble (Fr)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag London Ltd.
About this entry
Cite this entry
Spalanzani, A., Rios-Martinez, J., Laugier, C., Lee, S. (2012). Risk Based Navigation Decisions. In: Eskandarian, A. (eds) Handbook of Intelligent Vehicles. Springer, London. https://doi.org/10.1007/978-0-85729-085-4_56
Download citation
DOI: https://doi.org/10.1007/978-0-85729-085-4_56
Publisher Name: Springer, London
Print ISBN: 978-0-85729-084-7
Online ISBN: 978-0-85729-085-4
eBook Packages: EngineeringReference Module Computer Science and Engineering