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Planning a path for finding targets under spatial uncertainties using a weighted Voronoi graph and visibility measure

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1 Author(s)
Tomono, M. ; PRESTO, Japan Sci. & Technol. Corp., Japan

This paper presents a method of path planning for a mobile robot with a pan-tilt camera to find target objects under object-pose uncertainties caused by environmental changes or map inaccuracy. The uncertainties of object poses are represented by probability distributions on both a geometric map and a grid map. Based on these maps, the proposed method generates a weighted Voronoi graph, and plans a path with a short travel time, high passability, and high visibility of the target objects. The total path is the concatenation of paths to reach a goal and paths to observe a target object. The paper proposes a two-layered planning scheme, in which the candidate paths between subgoals are planned on the lower layer, and they are integrated on the upper layer.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

27-31 Oct. 2003

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