Modeling dynamic scenarios for local sensor-based motion planning

This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information with a sensor-based motion planning system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static structure in such a way that the nature (static/dynamic) of the observations is included in the estimation process. The algorithm provides a set of filters tracking the moving objects and a local map of the static structure constructed on line. In addition, this paper discusses how this modeling module is integrated in a real sensor-based motion planning system taking advantage selectively of the dynamic and static information. The experimental results confirm that the complete navigation system is able to move a vehicle in unknown and dynamic scenarios. Furthermore, the system overcomes many of the limitations of previous systems associated to the ability to distinguish the nature of the parts of the scenario.