TY - GEN
T1 - Real-time navigation in crowded dynamic environments using Gaussian process motion control
AU - Choi, Sungjoon
AU - Kim, Eunwoo
AU - Oh, Songhwai
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In this paper, we propose a novel Gaussian process motion controller that can navigate through a crowded dynamic environment. The proposed motion controller predicts future trajectories of pedestrians using an autoregressive Gaussian process motion model (AR-GPMM) from the partially-observable egocentric view of a robot and controls a robot using an autoregressive Gaussian process motion controller (AR-GPMC) based on predicted pedestrian trajectories. The performance of the proposed method is extensively evaluated in simulation and validated experimentally using a Pioneer 3DX mobile robot with a Microsoft Kinect sensor. In particular, the proposed method shows over 68% improvement on the collision rate compared to a reactive planner and vector field histogram (VFH).
AB - In this paper, we propose a novel Gaussian process motion controller that can navigate through a crowded dynamic environment. The proposed motion controller predicts future trajectories of pedestrians using an autoregressive Gaussian process motion model (AR-GPMM) from the partially-observable egocentric view of a robot and controls a robot using an autoregressive Gaussian process motion controller (AR-GPMC) based on predicted pedestrian trajectories. The performance of the proposed method is extensively evaluated in simulation and validated experimentally using a Pioneer 3DX mobile robot with a Microsoft Kinect sensor. In particular, the proposed method shows over 68% improvement on the collision rate compared to a reactive planner and vector field histogram (VFH).
UR - http://www.scopus.com/inward/record.url?scp=84929180240&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907322
DO - 10.1109/ICRA.2014.6907322
M3 - Conference contribution
AN - SCOPUS:84929180240
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3221
EP - 3226
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -