By Topic

Simultaneous path planning and free space exploration with skin sensor

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mehrandezh, M. ; Fac. of Eng., Regina Univ., Sask., Canada ; Gupta, K.K.

This paper addresses a general class of problems for sensor-based path planning and exploration for robots moving in unknown environments. The robot is assumed to be equipped with a large number of proximity sensors mounted on its body (a "skin" sensor). Robot's own motion is used to sense the free space, analogous to a blind person "groping and exploring" using his sense of touch. This sensed free space can be memorized and used to further plan the robot's motion. Using this key idea, we propose a general framework for such skin sensor based motion planning that is valid for robots with large degrees of freedom. The specific motion-planning algorithm developed uses a variant of the probabilistic roadmap method. A novel "metric" based on the notion of C-zone map for robot's movement that results in efficient exploration of configuration space is proposed and implemented. Planar simulations demonstrate our results.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference:

2002