Planning the motions of a mobile robot in a sensory uncertainty field:
Abstract: "This paper introduces a new approach to motion planning with uncertainty for mobile robots. Given a model of the robot's environment, a 'sensory uncertainty field' (SUF) is computed over the robot's configuration space. At every configuration q, the SUF is an esti...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Stanford, Calif.
1992
|
| Schriftenreihe: | Stanford University / Computer Science Department: Report STAN CS
1424 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "This paper introduces a new approach to motion planning with uncertainty for mobile robots. Given a model of the robot's environment, a 'sensory uncertainty field' (SUF) is computed over the robot's configuration space. At every configuration q, the SUF is an estimate of the uncertainty (distribution of possible errors) in the 'sensed configuration' that would be computed by matching the data given by the robot sensors against the environment model, if the robot was at configuration q. A planner then makes use of the computed SUF to generate paths that minimize expected errors, so that their execution can be reliably monitored by the sensors This paper describes in detail the computation of a SUF for a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for a robot equipped with this sensor and analyzes experimental results produced with this planner. Finally, it discusses additional issues related to the SUF-based planning approach. |
| Beschreibung: | 31 S. |
Internformat
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| 520 | 3 | |a Abstract: "This paper introduces a new approach to motion planning with uncertainty for mobile robots. Given a model of the robot's environment, a 'sensory uncertainty field' (SUF) is computed over the robot's configuration space. At every configuration q, the SUF is an estimate of the uncertainty (distribution of possible errors) in the 'sensed configuration' that would be computed by matching the data given by the robot sensors against the environment model, if the robot was at configuration q. A planner then makes use of the computed SUF to generate paths that minimize expected errors, so that their execution can be reliably monitored by the sensors | |
| 520 | 3 | |a This paper describes in detail the computation of a SUF for a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for a robot equipped with this sensor and analyzes experimental results produced with this planner. Finally, it discusses additional issues related to the SUF-based planning approach. | |
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Datensatz im Suchindex
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| author | Takeda, Haruo Latombe, Jean-Claude |
| author_facet | Takeda, Haruo Latombe, Jean-Claude |
| author_role | aut aut |
| author_sort | Takeda, Haruo |
| author_variant | h t ht j c l jcl |
| building | Verbundindex |
| bvnumber | BV008993738 |
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| format | Book |
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| id | DE-604.BV008993738 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-09T17:28:09Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-005942463 |
| oclc_num | 28348127 |
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| owner | DE-29T DE-91G DE-BY-TUM |
| owner_facet | DE-29T DE-91G DE-BY-TUM |
| physical | 31 S. |
| publishDate | 1992 |
| publishDateSearch | 1992 |
| publishDateSort | 1992 |
| record_format | marc |
| series2 | Stanford University / Computer Science Department: Report STAN CS |
| spelling | Takeda, Haruo Verfasser aut Planning the motions of a mobile robot in a sensory uncertainty field Haruo Takeda and Jean-Claude Latombe Stanford, Calif. 1992 31 S. txt rdacontent n rdamedia nc rdacarrier Stanford University / Computer Science Department: Report STAN CS 1424 Abstract: "This paper introduces a new approach to motion planning with uncertainty for mobile robots. Given a model of the robot's environment, a 'sensory uncertainty field' (SUF) is computed over the robot's configuration space. At every configuration q, the SUF is an estimate of the uncertainty (distribution of possible errors) in the 'sensed configuration' that would be computed by matching the data given by the robot sensors against the environment model, if the robot was at configuration q. A planner then makes use of the computed SUF to generate paths that minimize expected errors, so that their execution can be reliably monitored by the sensors This paper describes in detail the computation of a SUF for a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for a robot equipped with this sensor and analyzes experimental results produced with this planner. Finally, it discusses additional issues related to the SUF-based planning approach. Mobile robots Unsicherheit (DE-588)4186957-6 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Bahnsteuerung (DE-588)4042803-5 gnd rswk-swf Bahnsteuerung (DE-588)4042803-5 s DE-604 Unsicherheit (DE-588)4186957-6 s Mobiler Roboter (DE-588)4191911-7 s Latombe, Jean-Claude Verfasser aut Computer Science Department: Report STAN CS Stanford University 1424 (DE-604)BV008928280 1424 |
| spellingShingle | Takeda, Haruo Latombe, Jean-Claude Planning the motions of a mobile robot in a sensory uncertainty field Mobile robots Unsicherheit (DE-588)4186957-6 gnd Mobiler Roboter (DE-588)4191911-7 gnd Bahnsteuerung (DE-588)4042803-5 gnd |
| subject_GND | (DE-588)4186957-6 (DE-588)4191911-7 (DE-588)4042803-5 |
| title | Planning the motions of a mobile robot in a sensory uncertainty field |
| title_auth | Planning the motions of a mobile robot in a sensory uncertainty field |
| title_exact_search | Planning the motions of a mobile robot in a sensory uncertainty field |
| title_full | Planning the motions of a mobile robot in a sensory uncertainty field Haruo Takeda and Jean-Claude Latombe |
| title_fullStr | Planning the motions of a mobile robot in a sensory uncertainty field Haruo Takeda and Jean-Claude Latombe |
| title_full_unstemmed | Planning the motions of a mobile robot in a sensory uncertainty field Haruo Takeda and Jean-Claude Latombe |
| title_short | Planning the motions of a mobile robot in a sensory uncertainty field |
| title_sort | planning the motions of a mobile robot in a sensory uncertainty field |
| topic | Mobile robots Unsicherheit (DE-588)4186957-6 gnd Mobiler Roboter (DE-588)4191911-7 gnd Bahnsteuerung (DE-588)4042803-5 gnd |
| topic_facet | Mobile robots Unsicherheit Mobiler Roboter Bahnsteuerung |
| volume_link | (DE-604)BV008928280 |
| work_keys_str_mv | AT takedaharuo planningthemotionsofamobilerobotinasensoryuncertaintyfield AT latombejeanclaude planningthemotionsofamobilerobotinasensoryuncertaintyfield |