Crossing Point Estimation in Human/Robot Navigation -
Statistical Linearization versus Sigma-Point-Transformation
Rainer Heinrich Palm,
Achim J. Lilienthal
Abstract:Interactions between mobile robots and human operators in common areas require a high safety especially in terms of trajectory planning, obstacle avoidance and mutual cooperation. In this connection the crossings of planned trajectories, their uncertainty based on model fluctuations, system noise and sensor noise,play an outstanding role. This paper discusses the calculation of expected areas of interactions du ring human-robot navigation with respect to fuzzy and noisy information. Expected crossing points o… Show more
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