南方科技大学知识苑(SUSTech KC): Risk-Aware Path Planning Under Uncertainty in Dynamic Environments

题名	Risk-Aware Path Planning Under Uncertainty in Dynamic Environments
作者	Cai, Kuanqi 1,2; Wang, Chaoqun 3; Song, Shuang 2; Chen, Haoyao 2; Meng, Max Q-H1,2,4
通讯作者	Meng, Max Q-H
发表日期	2021-03-01
DOI	10.1007/s10846-021-01323-3
发表期刊	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 影响因子和分区
ISSN	0921-0296
EISSN	1573-0409
卷号	101 期号:3
摘要	This study develops a novel sampling-based path planning approach, simultaneously achieving uncertainty reduction of localization and avoidance of dynamic obstacles. The proposed path planner can generate a set of path primitives and the path selection takes into account the localization uncertainty, the collision-risk, and the cost-to-go to the target area. The weights of these quantities for selecting an optimal path are tuned adaptively by using the entropy weight method. In the process of path primitive generation, we propose an adaptive planning horizon scheme that can generate a longer path with lower localization uncertainty. Particularly, to further reduce the localization uncertainty of the path primitive, we propose a sampling strategy that is capable of biasing the sampling points to the information-rich areas. To reduce the collision-risk, we propose to calculate the probability of collision by taking the uncertainty of both the robot and the dynamic objects into consideration. The proposed approach and its key components are verified in extensive experiments in both simulation and real-world environments. The proposed method is demonstrated to be capable of efficiently guiding the robot to the designated location with lower localization uncertainty and higher success rate in obstacle avoidance.
关键词	Autonomous navigation Motion planning Mobile robots
相关链接	[来源记录]
收录类别	SCI ; EI
语种	英语
学校署名	通讯
资助项目	Hong Kong ITC ITSP Tier 2 grant[ITS/105/18FP]
WOS研究方向	Computer Science ; Robotics
WOS类目	Computer Science, Artificial Intelligence ; Robotics
WOS记录号	WOS:000619104600001
出版者	SPRINGER
EI入藏号	20210809974588
EI主题词	Agricultural robots ; Robots
EI分类号	Robotics:731.5 ; Accidents and Accident Prevention:914.1
ESI学科分类	ENGINEERING
来源库	Web of Science
引用统计	被引频次[WOS]：12
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/221322
专题	南方科技大学工学院_电子与电气工程系
作者单位	1.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China 2.Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen, Peoples R China 3.Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China 4.Southern Univ Sci & Technol, Shenzhen Key Lab Robot Percept & Intelligence, Shenzhen, Peoples R China
通讯作者单位	南方科技大学
推荐引用方式 GB/T 7714	Cai, Kuanqi,Wang, Chaoqun,Song, Shuang,et al. Risk-Aware Path Planning Under Uncertainty in Dynamic Environments[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2021,101(3).
APA	Cai, Kuanqi,Wang, Chaoqun,Song, Shuang,Chen, Haoyao,&Meng, Max Q-H.(2021).Risk-Aware Path Planning Under Uncertainty in Dynamic Environments.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,101(3).
MLA	Cai, Kuanqi,et al."Risk-Aware Path Planning Under Uncertainty in Dynamic Environments".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 101.3(2021).