MOBILE ROBOT MOTION PLANNING WITH UNCERTAINTY OF MOVING OBSTACLE
ZHANG Cheng-gang1,2,3, SUN Mao-xiang1
1.School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110023; 2. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences 110016; 3. State Key Lab. of Intelligent Technology & System T singhua Univer sity 100084
Abstract：This paper describes a method for modeling the uncertainty of moving obsticles. The method mainly considers two sources of motion uncertainty:velocity uncertainty and direction uncertainty.The uncertainty is modeled by probabilistic distribution. Using this method, moving obstacle avoidance can be performed more efficiently.
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