Experimental Study on Real World Mobile Robots which Operate in Realtime Considering Uncertainties in Perception and Action and Computational Cost

本研究的研究结果总结如下：1.考虑规划成本的规划：不确定情况下的规划通常是昂贵的，因为需要考虑许多可能的行动结果。提出了一种规划算法，通过明确考虑规划成本和规划质量之间的权衡，自适应地分配规划时间，使规划生成和规划执行的总成本最小。多个活动的并行调度：机器人通常由多个处理单元(称为活动)组成。为了提高这种并行系统的效率，提出了一种基于活动间依赖关系的并行调度方法。环境建模和导航：基于传感器的环境建模对于机器人的安全移动是必要的。我们首先研究了机器人任务(在什么样的环境中应该实现什么目标)和适当的模式…之间的关系更灵敏的方法。在此基础上提出了多种建模方法和导航方法，考虑了感知和动作中的各种不确定性。动态环境中的环境建模和规划：在动态环境中，规划时应考虑环境本身的变化和每个动作的价值。我们已经研究了这种变化的建模。此外，更严峻的时间压力要求降低计算成本。提出了以基于知识的元规划器为最高层的三层规划体系结构，以启发式的方式降低规划成本。实时全向立体声检测和跟踪移动障碍物：移动机器人需要快速、大视野和可靠的周围环境识别，以实现安全高效的导航。我们开发了一种全向实时立体系统，它使用一对垂直对准的全向摄像机。实现了移动机器人对移动障碍物的检测和跟踪。较少

The results of this research are summarized as follows :1. Planning considering planning cost : Planning under uncertainty is generally costly because many possible outcomes of actions should be considered. We have developed an planning algorithm which, by explicitly considering the tradeoff between the planning cost and the plan quality, adaptively allocates the time for planning to minimize the total cost of planning generation and plan execution.2. Parallel scheduling of multiple activities : Robots are usually composed of multiple processing units (called activities). To increase the efficiency of such a parallel system, we have developed a parallel scheduling method which is based on the dependency relationship between activities.3. Environment modeling and navigation : Sensor-based environment modeling is necessary for safe movement of robots. We first examined the relationship between a robot task (what goal should be achieved in what kind of environment) and an appropriate mode … More ling method. We then developed several modeling methods and navigation methods which considers various kinds of uncertainties in perception and action.4. Environment modeling and planning in dynamic environments : In a dynamic environment, changes of the environment itself and the value of each action should be considered in planning. We have investigated the modeling of such changes. In addition, the severer time pressure requires reduction of computational costs. We have developed a three-level planning architecture which has the knowledge-based meth-planner at the highest level to reduce the planning cost in a heuristic way.5. Realtime omnidirectional stereo for detection and tracking of moving obstacles : mobile robots need fast, wide-field-of-view, and reliable recognition of surrounding environments for safe and efficient navigation. We have developed an omnidirectional realtime stereo system which uses a pair of vertically aligned omnidirectional cameras. We have realized the detection and tracking of moving obstacles by a moving robot. Less