9,773 research outputs found
Obstacle Avoidance and Proscriptive Bayesian Programming
Unexpected events and not modeled properties of the robot environment are some of
the challenges presented by situated robotics research field. Collision avoidance is a basic security
requirement and this paper proposes a probabilistic approach called Bayesian Programming, which
aims to deal with the uncertainty, imprecision and incompleteness of the information handled to
solve the obstacle avoidance problem. Some examples illustrate the process of embodying the
programmer preliminary knowledge into a Bayesian program and experimental results of these
examples implementation in an electrical vehicle are described and commented. A video illustration
of the developed experiments can be found at http://www.inrialpes.fr/sharp/pub/laplac
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
Trajectory planning at high velocities and at the handling limits is a
challenging task. In order to cope with the requirements of a race scenario, we
propose a far-sighted two step, multi-layered graph-based trajectory planner,
capable to run with speeds up to 212~km/h. The planner is designed to generate
an action set of multiple drivable trajectories, allowing an adjacent behavior
planner to pick the most appropriate action for the global state in the scene.
This method serves objectives such as race line tracking, following, stopping,
overtaking and a velocity profile which enables a handling of the vehicle at
the limit of friction. Thereby, it provides a high update rate, a far planning
horizon and solutions to non-convex scenarios. The capabilities of the proposed
method are demonstrated in simulation and on a real race vehicle.Comment: Accepted at The 22nd IEEE International Conference on Intelligent
Transportation Systems, October 27 - 30, 201
Modelling shared space users via rule-based social force model
The promotion of space sharing in order to raise the quality of community living and safety of street surroundings is increasingly accepted feature of modern urban design. In this context, the development of a shared space simulation tool is essential in helping determine whether particular shared space schemes are suitable alternatives to traditional street layouts. A simulation tool that enables urban designers to visualise pedestrians and cars trajectories, extract flow and density relation in a new shared space design and achieve solutions for optimal design features before implementation. This paper presents a three-layered microscopic mathematical model which is capable of representing the behaviour of pedestrians and vehicles in shared space layouts and it is implemented in a traffic simulation tool. The top layer calculates route maps based on static obstacles in the environment. It plans the shortest path towards agents' respective destinations by generating one or more intermediate targets. In the second layer, the Social Force Model (SFM) is modified and extended for mixed traffic to produce feasible trajectories. Since vehicle movements are not as flexible as pedestrian movements, velocity angle constraints are included for vehicles. The conflicts described in the third layer are resolved by rule-based constraints for shared space users. An optimisation algorithm is applied to determine the interaction parameters of the force-based model for shared space users using empirical data. This new three-layer microscopic model can be used to simulate shared space environments and assess, for example, new street designs
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