Planning the motions of a mobile robot in a sensory uncertainty field:
Abstract: "Failures in mobile robot navigation are often caused by errors in localizing the robot relative to its environment. This paper explores the idea that these errors can be considerably reduced by planning paths taking the robot through positions where pertinent features of the environm...
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Stanford, Calif.
1993
|
| Schriftenreihe: | Stanford University / Computer Science Department: Report STAN CS
1488 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "Failures in mobile robot navigation are often caused by errors in localizing the robot relative to its environment. This paper explores the idea that these errors can be considerably reduced by planning paths taking the robot through positions where pertinent features of the environment can be sensed. It introduces the notion of a 'Sensory Uncertainty Field' (SUF). For every possible robot configuration q, this field estimates the distribution of possible errors in the robot configuration that would be computed by a localization function matching the data given by the sensors against an environment model, if the robot was at q. A planner is proposed which uses a precomputed SUF to generate paths that minimize expected errors or any other criterion combining, say, path length and errors This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner. Navigation experiments were conducted with mobile robots using paths generated by the SUF-based planner and other paths. The former paths were tracked with greater precision than the others. The final section of the paper discusses additional research issues related to SUF-based planning. |
| Beschreibung: | 42 S. |
Internformat
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| 100 | 1 | |a Takeda, Haruo |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Planning the motions of a mobile robot in a sensory uncertainty field |c Haruo Takeda ; Claudio Facchinetti ; Jean-Claude Latombe |
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| 520 | 3 | |a Abstract: "Failures in mobile robot navigation are often caused by errors in localizing the robot relative to its environment. This paper explores the idea that these errors can be considerably reduced by planning paths taking the robot through positions where pertinent features of the environment can be sensed. It introduces the notion of a 'Sensory Uncertainty Field' (SUF). For every possible robot configuration q, this field estimates the distribution of possible errors in the robot configuration that would be computed by a localization function matching the data given by the sensors against an environment model, if the robot was at q. A planner is proposed which uses a precomputed SUF to generate paths that minimize expected errors or any other criterion combining, say, path length and errors | |
| 520 | 3 | |a This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner. Navigation experiments were conducted with mobile robots using paths generated by the SUF-based planner and other paths. The former paths were tracked with greater precision than the others. The final section of the paper discusses additional research issues related to SUF-based planning. | |
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| author | Takeda, Haruo Facchinetti, Claudio Latombe, Jean-Claude |
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| id | DE-604.BV009041460 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-09T17:29:06Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-005982784 |
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| physical | 42 S. |
| publishDate | 1993 |
| publishDateSearch | 1993 |
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| 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 ; Claudio Facchinetti ; Jean-Claude Latombe Stanford, Calif. 1993 42 S. txt rdacontent n rdamedia nc rdacarrier Stanford University / Computer Science Department: Report STAN CS 1488 Abstract: "Failures in mobile robot navigation are often caused by errors in localizing the robot relative to its environment. This paper explores the idea that these errors can be considerably reduced by planning paths taking the robot through positions where pertinent features of the environment can be sensed. It introduces the notion of a 'Sensory Uncertainty Field' (SUF). For every possible robot configuration q, this field estimates the distribution of possible errors in the robot configuration that would be computed by a localization function matching the data given by the sensors against an environment model, if the robot was at q. A planner is proposed which uses a precomputed SUF to generate paths that minimize expected errors or any other criterion combining, say, path length and errors This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner. Navigation experiments were conducted with mobile robots using paths generated by the SUF-based planner and other paths. The former paths were tracked with greater precision than the others. The final section of the paper discusses additional research issues related to SUF-based planning. 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 Facchinetti, Claudio Verfasser aut Latombe, Jean-Claude Verfasser aut Computer Science Department: Report STAN CS Stanford University 1488 (DE-604)BV008928280 1488 |
| spellingShingle | Takeda, Haruo Facchinetti, Claudio 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 ; Claudio Facchinetti ; Jean-Claude Latombe |
| title_fullStr | Planning the motions of a mobile robot in a sensory uncertainty field Haruo Takeda ; Claudio Facchinetti ; Jean-Claude Latombe |
| title_full_unstemmed | Planning the motions of a mobile robot in a sensory uncertainty field Haruo Takeda ; Claudio Facchinetti ; 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 |
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