Lambda-Field: A Continuous Counterpart of the Bayesian Occupancy Grid for Risk Assessment
28 Aug 2019
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Laconte Johann
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Debain Christophe
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Chapuis Roland
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Pomerleau François
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Aufrère Romuald
In a context of autonomous robots, one of the most important task is to
ensure the safety of the robot and its surrounding. Most of the time, the risk
of navigation is simply said to be the probability of collision...This notion of
risk is not well defined in the literature, especially when dealing with
occupancy grids. The Bayesian occupancy grid is the most used method to deal
with complex environments. However, this is not fitted to compute the risk
along a path by its discrete nature, hence giving poor results. In this
article, we present a new way to store the occupancy of the environment that
allows the computation of risk for a given path. We then define the risk as the
force of collision that would occur for a given obstacle. Using this framework,
we are able to generate navigation paths ensuring the safety of the robot.(read more)