2024
DOI: 10.3390/s24113303
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Crossing-Point Estimation in Human–Robot Navigation—Statistical Linearization versus Sigma-Point Transformation

Rainer Palm,
Achim J. Lilienthal

Abstract: Interactions between mobile robots and human operators in common areas require a high level of safety, especially in terms of trajectory planning, obstacle avoidance and mutual cooperation. In this connection, the crossings of planned trajectories and their uncertainty based on model fluctuations, system noise and sensor noise play an outstanding role. This paper discusses the calculation of the expected areas of interactions during human–robot navigation with respect to fuzzy and noisy information. The expect… Show more

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