Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost
Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost
复制标题
考虑视觉不确定性和规划成本的移动机器人视觉运动规划
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
Y. Shirai
中科院分区：
文献类型：
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作者：
J. Miura;Y. Shirai
提出了一种基于视觉不确定性和有限计算资源的视觉引导移动机器人规划方法。该方法考虑了以下两个权衡：(1)近似概率分布的粒度与计划质量，以及(2)搜索深度与计划质量。第一个权衡是通过使用它们之间的学习关系来预测粒度的计划质量，并通过自适应地选择最佳粒度来管理的。第二种权衡是通过将规划过程描述为在可行计划空间中的搜索，并根据搜索的每个步骤的优点适当限制搜索来管理的。仿真和实验结果表明了该方法的可行性。
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 tradeoffs: (1) granularity in approximating a probabilistic distribution vs. plan quality, and (2) search depth vs. plan quality. The first tradeoff is managed by predicting the plan quality for a granularity using a learned relationship between them, and by adaptively selecting the best granularity. The second trade-off is managed by formulating the planning process as a search in the space of feasible plans, and by appropriately limiting the search considering the merit of each step of the search. Simulation results and experiments using a real robot show the feasibility of the method.