Vision-motion planning of a mobile robot considering vision uncertainty and planning cost

Authors:
Jun Miura;Yoshiaki Shirai
Affiliations:
Dept. of Computer-Controlled Mechanical Systems, Osaka University, Osaka, Japan;Dept. of Computer-Controlled Mechanical Systems, Osaka University, Osaka, Japan
Venue:
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Year:
1997

Citing 3
Cited 1

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International Journal of Robotics Research
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Abstract

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.