Vision and Motion Planning for a Mobile Robot under Uncertainty
نویسندگان
چکیده
This paper describes a framework for vision and motion planning for a mobile robot. The task of the robot is to reach the destination in the minimum time while it detects possible routes by vision. Since visual recognition is computationally expensive and the recognition result includes uncertainty, a trade-o must be considered between the cost of visual recognition and the e ect of information to be obtained by recognition. Using a probabilistic model of the uncertainty of the recognition result, vision-motion planning is formulated as a recurrence formula. With this formulation, the optimal sequence of observation points is recursively determined. A generated plan is globally optimal because the planner minimizes the total cost. An e cient solution strategy is also described which employs a pruning method based on the lower bound of the total cost calculated by assuming perfect sensor information. Simulation results and experiments with an actual mobile robot demonstrate the feasibility of our approach.
منابع مشابه
Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملDynamic Motion Planning for E cient Visual Navigation under Uncertainty
This paper deals with a planning problem for a mobile robot to reach a goal quickly and safely under uncertainty of vision and motion. If a robot moves to the goal using only dead reckoning, the positional error may increase by the motion uncertainty. The error can be reduced by visual information. But the vision also includes uncertainty caused by the pixel quantization. It also takes consider...
متن کاملVision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost
This paper proposes a planning method for a vision-guided mobile robot under vision uncertainty and limited computational resources. The method considers the following two tradeo s: (1) granularity in approximating a probabilistic distribution vs. plan quality, and (2) search depth vs. plan quality. The rst tradeo is managed by predicting the plan quality for a granularity using a learned relat...
متن کاملMobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- I. J. Robotics Res.
دوره 16 شماره
صفحات -
تاریخ انتشار 1997