Planning the motions of a mobile robot in a sensory uncertaintyfield
Takeda, H.
Facchinetti, C.
Latombe, J.-C.
Syst. Dev. Lab., Hitachi Ltd., Kawasaki;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Oct 1994
Volume: 16,
Issue: 10
On page(s): 1002-1017
ISSN: 0162-8828
References Cited: 55
CODEN: ITPIDJ
INSPEC Accession Number: 4802684
Digital Object Identifier: 10.1109/34.329009
Current Version Published: 2002-08-06
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
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