Safety Assessment for Motion Planning in Uncertain and Dynamic Environments

Abstract

This thesis presents novel methods for safety assessment of robot motion in uncertain and dynamic environments with contributions to three problems: (i) assessment of roadmaps in uncertain environments (ii) assessment of trajectories beyond the planning horizon (iii) assessment taking into account the avoidance behavior of reactive objects. Furthermore, the presented safety assessment approaches are integrated into motion planning algorithms. The effectiveness of all novel methods for safety assessment and motion planning are demonstrated by simulations from the field of mobile robot navigation and autonomous driving.