ThePcmetric: A performance measure for collision avoidance algorithms
| Autor: | Kendrick Amezquita-Semprun, Yazhini C. Pradeep, Manuel Del Rosario, Peter C. Y. Chen |
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| Rok vydání: | 2018 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Measure (data warehouse) Computer science General Mathematics 05 social sciences Mobile robot 02 engineering and technology Collision Field (computer science) Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering 0502 economics and business Metric (mathematics) Algorithm Software Collision avoidance |
| Zdroj: | Robotics and Autonomous Systems. 109:125-138 |
| ISSN: | 0921-8890 |
| Popis: | Despite the comprehensive development in the field of navigation algorithms for mobile robots, the research on performance metrics and evaluation procedures for making standardized quantitative comparison between different algorithms has gained attention only recently. This work attempts to contribute with such effort by introducing a performance metric for the assessment of collision avoidance algorithms for mobile robots. The proposed metric comprehensively evaluates the actions taken by the objects and their consequences, in a given scenario of any given collision avoidance algorithm, based on the concept of probability of collision. The contribution of the paper encompasses the definition of the metric, the methodology to estimate the metric, and the framework to apply the metric for any given scenario. Experiments and numerical simulations are conducted to validate and demonstrate the effectiveness of the proposed metric in performance evaluation and comparison among different collision avoidance algorithms. |
| Databáze: | OpenAIRE |
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