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

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 关于我们 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

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