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Probabilistic Autonomous Robot Navigation in Dynamic Environments with Human Motion Prediction

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Abstract

This paper considers the problem of autonomous robot navigation in dynamic and congested environments. The predictive navigation paradigm is proposed where probabilistic planning is integrated with obstacle avoidance along with future motion prediction of humans and/or other obstacles. Predictive navigation is performed in a global manner with the use of a hierarchical Partially Observable Markov Decision Process (POMDP) that can be solved on-line at each time step and provides the actual actions the robot performs. Obstacle avoidance is performed within the predictive navigation model with a novel approach by deciding paths to the goal position that are not obstructed by other moving objects movement with the use of future motion prediction and by enabling the robot to increase or decrease its speed of movement or by performing detours. The robot is able to decide which obstacle avoidance behavior is optimal in each case within the unified navigation model employed.

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Authors and Affiliations

  1. Department of Computer Engineering & Informatics, University of Patras, 26500, Patras, Greece

    Amalia F. Foka

  2. Institute of Computer Science, Foundation for Research and Technology—Hellas (FORTH), P.O. Box 1385, Heraklion, 711 10, Crete, Greece

    Panos E. Trahanias

Authors
  1. Amalia F. Foka
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  2. Panos E. Trahanias
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Correspondence to Amalia F. Foka.

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Foka, A.F., Trahanias, P.E. Probabilistic Autonomous Robot Navigation in Dynamic Environments with Human Motion Prediction. Int J of Soc Robotics 2, 79–94 (2010). https://doi.org/10.1007/s12369-009-0037-z

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  • DOI: https://doi.org/10.1007/s12369-009-0037-z

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