Perception-based motion planning for indoor exploration

This paper proposes an approach for motion planning in indoor environments based on incomplete and uncertain information from a line-based binocular stereo system. The primary goal of the planning process is to plan an optimal path through an unknown or partially known environment, depending on the information gained from exploration and the current mission goal. This paper presents an adaptable motion planner that supports sensor-based map construction, object recognition and navigation in an unknown environment while carrying out a mission. Also presented are some preliminary experimental results that demonstrate the utility of the approach.