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

考虑感知和行动的不确定性以及计算成本的实时运行的现实世界移动机器人的实验研究

• 批准号: 10558050
• 负责人: MIURA Jun
• 金额: $ 4.22万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10558050/
• 关键词: Moible robot; planning under uncertainty; uncertainties in vision and motion; environment modeling under uncertainty; landmark extraction and selection; planning in dynamic environments; parallel scheduling; realtime omnidirectional stereo; 不確かさを考

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

本研究的主要成果如下：1.考虑规划成本的规划：在不确定性下进行规划通常是成本高昂的，因为需要考虑许多可能的行动结果。我们开发了一种规划算法，通过显式地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，以最小化规划生成和规划执行的总成本.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。为了提高并行系统的效率，提出了一种基于作业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）和适当模式之间的关系 ...更多信息 ling方法然后，我们开发了几种建模方法和导航方法，这些方法考虑了感知和行动中的各种不确定性.动态环境中的环境建模与规划：在动态环境中，规划时应考虑环境本身的变化和每个行动的价值。我们已经研究了这种变化的建模。此外，更大的时间压力要求减少计算成本。提出了一种三层规划体系结构，其中最高层为基于知识的方法规划器，以启发式方式降低规划成本.用于检测和跟踪移动障碍物的实时全方位立体声：移动的机器人需要快速、宽视场和可靠地识别周围环境，以实现安全高效的导航。我们已经开发了一个全向实时立体声系统，它使用一对垂直对齐的全向摄像机。实现了移动机器人对运动障碍物的检测与跟踪。少

项目成果

文 仁赫,三浦純,白井良明: "不確かさを考慮した観測位置と移動のオンライン計画手法"日本ロボット学会誌. 17巻8号. 1107-1113 (1999)

In-hyuk Bun、Jun Miura、Yoshiaki Shirai：“考虑不确定性的观察位置和运动的在线规划方法”，日本机器人学会杂志，第 17 卷，第 1107-1113 期（1999 年）。

I.Moon, J.Miura, and Y.Shirai: "On-line Viewpoint and Motion Planning for Efficient Visual Navigation under Uncertainty"Robotics and Autonomous Systems. Vol.28, Nos.2-3. 237-248 (1999)

I.Moon、J.Miura 和 Y.Shirai：“不确定性下高效视觉导航的在线视点和运动规划”机器人和自治系统。

J.Miura and Y.Shirai: "Scheduling Parallel Execution of Planning and Action for a Mobile Robot Considering Planning Cost and Vision Uncertainty"Proc.1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems. 545-550 (1998)

J.Miura 和 Y.Shirai：“考虑规划成本和视觉不确定性，调度移动机器人规划和行动的并行执行”Proc.1998 IEEE/RSJ Int.Conf.on 智能机器人和系统。

K.Kidono,J.Miura,and Y.Shirai: "Autonomous Visual Navigation of a Mobile Robot Using a Human-Guided Experience"Proc. the 6th Int. Symp. on Intelligent Autonomous Systems. 620-627 (2000)

K.Kidono、J.Miura 和 Y.Shirai：“使用人类引导体验的移动机器人的自主视觉导航”Proc。

J.Miura and Y.Shirai: "Parallelizing Planning and Action of a Mobile Robot Based on Plannting-Action Consistency"Proc.2001 IEEE Int.Conf.on Robotics and Automation. (to appear). (2001)

J.Miura 和 Y.Shirai：“基于规划-动作一致性的移动机器人的并行化规划和动作”Proc.2001 IEEE Int.Conf.on 机器人与自动化。