Efficient Learning of Motion Patterns for Robots

摘要

In this work we present a novel approach to learning dynamics of an environment perceived by a mobile robot. More precisely, we are interested in general motion patterns occurring in the environment rather than object dependent ones. A sampling algorithm is used to update a sample set, which represents observed dynamics, using the Bayes rule. From this set of samples a Hidden Markov Model is learnt online, which allows fast and efficient matching and prediction in the learnt model. Such models are useful for a number of tasks such as path planning, localisation and compliant motion. The approach is validated through simulation as well as experiments. 1