Close Proximity Time-to-collision Prediction for Autonomous Robot Navigation: An Exponential GPR Approach

摘要

Fusion of X-band Doppler radar and infrared sensors can offer a great advantage for close proximity time-to-collision (TTC) prediction in the field of autonomous robot navigation due to precise obstacle speed detection and direction sensing. Nevertheless, poor ranging performance from the infrared sensors may result owing to fluctuating reflectivity of the moving obstacle. The TTC prediction accuracy may also be further degraded when the obstacle’s trajectory is non-parallel to the robot’s heading direction due to uncertainty in the radar’s radiation pattern which typically increases at the side lobes of the antenna. Thus, to enhance the performance, we propose an exponential Gaussian Process Regression (E-GPR)-based prediction model which is able to approximate an unknown function in a probabilistic manner. The proposed method is validated via a series of experiments with an obstacle approaching the robot from different viewing angles with a speed ranging between 30 and 63 cm/s. Results demonstrate that the average TTC error based on the sensor fusion is 0.31s; but with the E-GPR method, the error is successfully reduced to 0.0937s, which is the largest error reduction when compared against other competing machine-learning models such as multilayer perceptron neural network, support vector machine and boosted tree.