The Pc metric: A safety performance measure for evaluation of collision avoidance algorithms
| Autor: | Yuan-Rui Yang, Manuel Del Rosario, Peter C. Y. Chen, Yazhini C. Pradeep, Kendrick Amezquita-Semprun |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Measure (data warehouse) Computer science business.industry 05 social sciences Robotics 02 engineering and technology Collision Field (computer science) 020901 industrial engineering & automation 0502 economics and business Metric (mathematics) Robot Artificial intelligence business Performance metric Algorithm Collision avoidance |
| Zdroj: | ISR |
| DOI: | 10.1109/iisr.2018.8535783 |
| Popis: | Several techniques have been proposed for navigation and collision avoidance algorithms in the field of mobile robotics. But the research on establishing standardized performance measures for evaluating such algorithms are gaining attention very recently. In this work, a novel performance metric is proposed to comprehensively measure and evaluate the performance of robots in terms of safety, during navigation and collision avoidance. The metric is based on the concept of probability of collision and is applicable to environments involving humans which are considered to be highly dynamic and uncertain. The definition and the estimation of the proposed metric are elaborated initially. The metric is then validated through an experiment. Finally, the application of the metric is demonstrated using a virtual human environment simulation. The results show the effectiveness of the metric in quantitatively evaluating and comparing the safety performance of the robot with respect to humans. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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