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Planning the Motions of a Mobile Robot in a Sensory Uncertainty Field

H. TakedaJean-Claude LatombeStanford University. Computer Science Department

出版	Stanford University, Department of Computer Science, 1992
URL	http://books.google.com.hk/books?id=kXT1zAEACAAJ&hl=&source=gbs_api

註釋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.