Toward a Generalized Risk Assessment Method on Occupancy Grids
Résumé
To navigate safely and efficiently, a robot must be aware of its surroundings. Although Bayesian occupancy grids are an efficient way to map the environment, they are not wellsuited to assess risks of a specific path. In this paper, we extend the work of Laconte et al. [1] to generate meaningful risks in 3D environments. Here, we define the risk as the deformation energy of the robot's wheels due to collisions.
Domaines
Robotique [cs.RO]
Fichier principal
poster_iros_2021.pdf (7.2 Mo)
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paper_iros_2021.pdf (1.63 Mo)
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