Modeling the Static and the Dynamic Parts of the Environment to Improve Sensor-based Navigation

This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information within a real sensor-based navigation system. The contribution in the modeling aspect is a formulation of the Detection and Tracking of Mobile Objects and the Simultaneous Localization and Map Building in such a way that the nature (static/dynamic) of the observations is included in the estimation process. This is achieved by a set of filters tracking the moving objects and a map of the static structure constructed on line. In addition, this paper discusses how this modeling module is integrated in a real sensor-based navigation system taking advantage selectively of the dynamic and static information. The experimental results confirm that the complete navigation system is able to move a vehicle in unknown and dynamic scenarios. Furthermore, the system overcomes many of the limitations of previous systems associated to the ability to distinguish the nature of the parts of the scenario.